X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosState.java;h=08dafbb4c8ad6d12333e458638e6732abc04aede;hb=200137060651f48c99276c8feb0e15980a9b46be;hp=a9bb1e70833392321b01097da560eb6819304f42;hpb=be7f56b86478ef4a23a2af77338c580b9c9e5e3b;p=fw%2Faltos

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index a9bb1e70..08dafbb4 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -19,7 +19,7 @@
  * Track flight state from telemetry or eeprom data stream
  */
 
-package org.altusmetrum.altoslib_2;
+package org.altusmetrum.altoslib_3;
 
 public class AltosState implements Cloneable {
 
@@ -29,8 +29,8 @@ public class AltosState implements Cloneable {
 
 	public int set;
 
-	static final double ascent_filter_len = 0.1;
-	static final double descent_filter_len = 2.0;
+	static final double ascent_filter_len = 0.5;
+	static final double descent_filter_len = 0.5;
 
 	/* derived data */
 
@@ -49,7 +49,6 @@ public class AltosState implements Cloneable {
 		private double	max_value;
 		private double	set_time;
 		private double	prev_set_time;
-		private double	max_rate = 1000.0;
 
 		void set(double new_value, double time) {
 			if (new_value != AltosLib.MISSING) {
@@ -125,12 +124,14 @@ public class AltosState implements Cloneable {
 			double	ddt = in.time() - pt;
 			double	ddv = (n - p) / ddt;
 				
+			final double max = 100000;
+
 			/* 100gs */
-			if (Math.abs(ddv) > 1000) {
+			if (Math.abs(ddv) > max) {
 				if (n > p)
-					n = p + ddt * 1000;
+					n = p + ddt * max;
 				else
-					n = p - ddt * 1000;
+					n = p - ddt * max;
 			}
 
 			double filter_len;
@@ -463,6 +464,20 @@ public class AltosState implements Cloneable {
 		return acceleration.max();
 	}
 
+	public AltosValue	orient;
+
+	public void set_orient(double new_orient) {
+		orient.set(new_orient, time);
+	}
+
+	public double orient() {
+		return orient.value();
+	}
+
+	public double max_orient() {
+		return orient.max();
+	}
+
 	public AltosValue	kalman_height, kalman_speed, kalman_acceleration;
 
 	public void set_kalman(double height, double speed, double acceleration) {
@@ -559,6 +574,7 @@ public class AltosState implements Cloneable {
 		pressure = new AltosPressure();
 		speed = new AltosSpeed();
 		acceleration = new AltosAccel();
+		orient = new AltosValue();
 
 		temperature = AltosLib.MISSING;
 		battery_voltage = AltosLib.MISSING;
@@ -620,6 +636,7 @@ public class AltosState implements Cloneable {
 		pressure.finish_update();
 		speed.finish_update();
 		acceleration.finish_update();
+		orient.finish_update();
 
 		kalman_height.finish_update();
 		kalman_speed.finish_update();
@@ -664,6 +681,7 @@ public class AltosState implements Cloneable {
 		pressure.copy(old.pressure);
 		speed.copy(old.speed);
 		acceleration.copy(old.acceleration);
+		orient.copy(old.orient);
 
 		battery_voltage = old.battery_voltage;
 		pyro_voltage = old.pyro_voltage;
@@ -835,7 +853,9 @@ public class AltosState implements Cloneable {
 		if (flight != AltosLib.MISSING && flight != 0) {
 			if (this.flight != AltosLib.MISSING &&
 			    this.flight != flight) {
+				int bt = boost_tick;
 				init();
+				boost_tick = bt;
 			}
 			this.flight = flight;
 		}
@@ -846,7 +866,9 @@ public class AltosState implements Cloneable {
 		if (serial != AltosLib.MISSING) {
 			if (this.serial != AltosLib.MISSING &&
 			    this.serial != serial) {
+				int bt = boost_tick;
 				init();
+				boost_tick = bt;
 			}
 			this.serial = serial;
 		}
@@ -927,14 +949,8 @@ public class AltosState implements Cloneable {
 	}
 
 	void update_accel() {
-		double	ground = ground_accel;
-
-		if (ground == AltosLib.MISSING)
-			ground = ground_accel_avg;
 		if (accel == AltosLib.MISSING)
 			return;
-		if (ground == AltosLib.MISSING)
-			return;
 		if (accel_plus_g == AltosLib.MISSING)
 			return;
 		if (accel_minus_g == AltosLib.MISSING)
@@ -942,7 +958,7 @@ public class AltosState implements Cloneable {
 
 		double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
 		double counts_per_mss = counts_per_g / 9.80665;
-		acceleration.set_measured((ground - accel) / counts_per_mss, time);
+		acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
 	}
 
 	public void set_accel_g(double accel_plus_g, double accel_minus_g) {
@@ -954,10 +970,8 @@ public class AltosState implements Cloneable {
 	}
 
 	public void set_ground_accel(double ground_accel) {
-		if (ground_accel != AltosLib.MISSING) {
+		if (ground_accel != AltosLib.MISSING)
 			this.ground_accel = ground_accel;
-			update_accel();
-		}
 	}
 
 	public void set_accel(double accel) {
@@ -1016,10 +1030,9 @@ public class AltosState implements Cloneable {
 		if (tick == AltosLib.MISSING)
 			return 0.0;
 
-		if (boost_tick != AltosLib.MISSING) {
-			return (tick - boost_tick) / 100.0;
-		}
-		return tick / 100.0;
+		if (boost_tick == AltosLib.MISSING)
+			return tick / 100.0;
+		return (tick - boost_tick) / 100.0;
 	}
 
 	public boolean valid() {