X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosState.java;h=b05cd3586061ad111d99084733f84865c360339e;hb=75766b0e7ee30fb3bfbf90ecb68f7758bac6eeba;hp=1162e5221be70636fc7faa7d2d8373b4b0c3a21c;hpb=3871b9ac036e3adfa1da089245fc7973b268c921;p=fw%2Faltos diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index 1162e522..b05cd358 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -392,6 +392,7 @@ public class AltosState implements Cloneable { private AltosValue gps_ground_speed; private AltosValue gps_ascent_rate; private AltosValue gps_course; + private AltosValue gps_speed; public double altitude() { double a = altitude.value(); @@ -427,14 +428,30 @@ public class AltosState implements Cloneable { return gps_ground_speed.value(); } + public double max_gps_ground_speed() { + return gps_ground_speed.max(); + } + public double gps_ascent_rate() { return gps_ascent_rate.value(); } + public double max_gps_ascent_rate() { + return gps_ascent_rate.max(); + } + public double gps_course() { return gps_course.value(); } + public double gps_speed() { + return gps_speed.value(); + } + + public double max_gps_speed() { + return gps_speed.max(); + } + class AltosPressure extends AltosValue { void set(double p, double time) { super.set(p, time); @@ -464,7 +481,7 @@ public class AltosState implements Cloneable { double g = ground_altitude(); if (a != AltosLib.MISSING && g != AltosLib.MISSING) return a - g; - return AltosLib.MISSING; + return gps_height(); } public double max_height() { @@ -476,7 +493,7 @@ public class AltosState implements Cloneable { double g = ground_altitude(); if (a != AltosLib.MISSING && g != AltosLib.MISSING) return a - g; - return AltosLib.MISSING; + return max_gps_height(); } public double gps_height() { @@ -500,7 +517,7 @@ public class AltosState implements Cloneable { class AltosSpeed extends AltosCValue { boolean can_max() { - return state < AltosLib.ao_flight_fast; + return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless; } void set_accel() { @@ -529,20 +546,32 @@ public class AltosState implements Cloneable { double v = kalman_speed.value(); if (v != AltosLib.MISSING) return v; - return speed.value(); + v = speed.value(); + if (v != AltosLib.MISSING) + return v; + v = gps_speed(); + if (v != AltosLib.MISSING) + return v; + return AltosLib.MISSING; } public double max_speed() { double v = kalman_speed.max(); if (v != AltosLib.MISSING) return v; - return speed.max(); + v = speed.max(); + if (v != AltosLib.MISSING) + return v; + v = max_gps_speed(); + if (v != AltosLib.MISSING) + return v; + return AltosLib.MISSING; } class AltosAccel extends AltosCValue { boolean can_max() { - return state < AltosLib.ao_flight_fast; + return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless; } void set_measured(double a, double time) { @@ -712,12 +741,15 @@ public class AltosState implements Cloneable { gps_altitude = new AltosGpsAltitude(); gps_ground_altitude = new AltosGpsGroundAltitude(); gps_ground_speed = new AltosValue(); + gps_speed = new AltosValue(); gps_ascent_rate = new AltosValue(); + gps_course = new AltosValue(); speak_tick = AltosLib.MISSING; speak_altitude = AltosLib.MISSING; callsign = null; + firmware_version = null; accel_plus_g = AltosLib.MISSING; accel_minus_g = AltosLib.MISSING; @@ -842,6 +874,10 @@ public class AltosState implements Cloneable { gps_altitude.copy(old.gps_altitude); gps_ground_altitude.copy(old.gps_ground_altitude); + gps_ground_speed.copy(old.gps_ground_speed); + gps_ascent_rate.copy(old.gps_ascent_rate); + gps_course.copy(old.gps_course); + gps_speed.copy(old.gps_speed); pad_lat = old.pad_lat; pad_lon = old.pad_lon; @@ -851,6 +887,7 @@ public class AltosState implements Cloneable { speak_altitude = old.speak_altitude; callsign = old.callsign; + firmware_version = old.firmware_version; accel_plus_g = old.accel_plus_g; accel_minus_g = old.accel_minus_g; @@ -873,17 +910,17 @@ public class AltosState implements Cloneable { } void update_gps() { - elevation = 0; - range = -1; + elevation = AltosLib.MISSING; + range = AltosLib.MISSING; if (gps == null) return; if (gps.locked && gps.nsat >= 4) { /* Track consecutive 'good' gps reports, waiting for 10 of them */ - if (state == AltosLib.ao_flight_pad) { + if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) { set_npad(npad+1); - if (pad_lat != AltosLib.MISSING) { + if (pad_lat != AltosLib.MISSING && (npad < 10 || state == AltosLib.ao_flight_pad)) { pad_lat = (pad_lat * 31 + gps.lat) / 32; pad_lon = (pad_lon * 31 + gps.lon) / 32; gps_ground_altitude.set_filtered(gps.alt, time); @@ -899,6 +936,9 @@ public class AltosState implements Cloneable { gps_ascent_rate.set(gps.climb_rate, time); if (gps.ground_speed != AltosLib.MISSING) gps_ground_speed.set(gps.ground_speed, time); + if (gps.climb_rate != AltosLib.MISSING && gps.ground_speed != AltosLib.MISSING) + gps_speed.set(Math.sqrt(gps.ground_speed * gps.ground_speed + + gps.climb_rate * gps.climb_rate), time); if (gps.course != AltosLib.MISSING) gps_course.set(gps.course, time); } @@ -945,18 +985,34 @@ public class AltosState implements Cloneable { state <= AltosLib.ao_flight_coast); boost = (AltosLib.ao_flight_boost == state); } - } public void set_device_type(int device_type) { this.device_type = device_type; + switch (device_type) { + case AltosLib.product_telegps: + this.state = AltosLib.ao_flight_stateless; + break; + } } - public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) { - config_major = major; - config_minor = minor; + public void set_log_format(int log_format) { + this.log_format = log_format; + switch (log_format) { + case AltosLib.AO_LOG_FORMAT_TELEGPS: + this.state = AltosLib.ao_flight_stateless; + break; + } + } + + public void set_flight_params(int apogee_delay, int main_deploy) { this.apogee_delay = apogee_delay; this.main_deploy = main_deploy; + } + + public void set_config(int major, int minor, int flight_log_max) { + config_major = major; + config_minor = minor; this.flight_log_max = flight_log_max; }