X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosState.java;h=b40b744fd7b5ae13894095aa2bf278758c309d62;hb=04d7d0f829ba953ffeca8ad9887a4b6b2b5d5087;hp=e20ec9a7109dbcd493deac0b544f692f2e78cd38;hpb=e2b472bbb2418fc13be42dbc7c52beb88479c46d;p=fw%2Faltos

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index e20ec9a7..b40b744f 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -19,9 +19,9 @@
  * Track flight state from telemetry or eeprom data stream
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
-public class AltosState {
+public class AltosState implements Cloneable {
 	public AltosRecord data;
 
 	/* derived data */
@@ -35,24 +35,32 @@ public class AltosState {
 	public int	state;
 	public boolean	landed;
 	public boolean	ascent;	/* going up? */
-	public boolean boost;	/* under power */
+	public boolean	boost;	/* under power */
 
 	public double	ground_altitude;
+	public double	altitude;
 	public double	height;
-	public double	speed;
+	public double	pressure;
 	public double	acceleration;
-	public double	battery;
+	public double	battery_voltage;
+	public double	pyro_voltage;
 	public double	temperature;
-	public double	main_sense;
-	public double	drogue_sense;
-	public double	baro_speed;
+	public double	apogee_voltage;
+	public double	main_voltage;
+	public double	speed;
+
+	public double	prev_height;
+	public double	prev_speed;
+	public double	prev_acceleration;
 
 	public double	max_height;
 	public double	max_acceleration;
 	public double	max_speed;
-	public double	max_baro_speed;
+
+	public double	kalman_height, kalman_speed, kalman_acceleration;
 
 	public AltosGPS	gps;
+	public int gps_sequence;
 
 	public AltosIMU	imu;
 	public AltosMag	mag;
@@ -60,10 +68,11 @@ public class AltosState {
 	public static final int MIN_PAD_SAMPLES = 10;
 
 	public int	npad;
-	public int	ngps;
 	public int	gps_waiting;
 	public boolean	gps_ready;
 
+	public int	ngps;
+
 	public AltosGreatCircle from_pad;
 	public double	elevation;	/* from pad */
 	public double	range;		/* total distance */
@@ -75,80 +84,503 @@ public class AltosState {
 	public int	speak_tick;
 	public double	speak_altitude;
 
+	public String	callsign;
+	public double	accel_plus_g;
+	public double	accel_minus_g;
+	public double	accel;
+	public double	ground_accel;
+
+	public int	log_format;
+	public int	serial;
+
+	public AltosMs5607	baro;
+
+	public double speed() {
+		return speed;
+	}
+
+	public double max_speed() {
+		return max_speed;
+	}
+
+	public void set_npad(int npad) {
+		this.npad = npad;
+		gps_waiting = MIN_PAD_SAMPLES - npad;
+		if (this.gps_waiting < 0)
+			gps_waiting = 0;
+		gps_ready = gps_waiting == 0;
+	}
+
+	public void init() {
+		data = new AltosRecord();
+
+		report_time = System.currentTimeMillis();
+		time = AltosRecord.MISSING;
+		time_change = AltosRecord.MISSING;
+		tick = AltosRecord.MISSING;
+		state = AltosLib.ao_flight_invalid;
+		landed = false;
+		boost = false;
+
+		ground_altitude = AltosRecord.MISSING;
+		altitude = AltosRecord.MISSING;
+		height = AltosRecord.MISSING;
+		pressure = AltosRecord.MISSING;
+		acceleration = AltosRecord.MISSING;
+		temperature = AltosRecord.MISSING;
+
+		prev_height = AltosRecord.MISSING;
+		prev_speed = AltosRecord.MISSING;
+		prev_acceleration = AltosRecord.MISSING;
+
+		battery_voltage = AltosRecord.MISSING;
+		pyro_voltage = AltosRecord.MISSING;
+		apogee_voltage = AltosRecord.MISSING;
+		main_voltage = AltosRecord.MISSING;
+
+
+		accel_speed = AltosRecord.MISSING;
+		baro_speed = AltosRecord.MISSING;
+
+		kalman_height = AltosRecord.MISSING;
+		kalman_speed = AltosRecord.MISSING;
+		kalman_acceleration = AltosRecord.MISSING;
+
+		max_baro_speed = 0;
+		max_accel_speed = 0;
+		max_height = 0;
+		max_acceleration = 0;
+
+		gps = null;
+		gps_sequence = 0;
+
+		imu = null;
+		mag = null;
+
+		set_npad(0);
+		ngps = 0;
+
+		from_pad = null;
+		elevation = AltosRecord.MISSING;
+		range = AltosRecord.MISSING;
+		gps_height = AltosRecord.MISSING;
+
+		pat_lat = AltosRecord.MISSING;
+		pad_lon = AltosRecord.MISSING;
+		pad_alt = AltosRecord.MISSING;
+
+		speak_tick = AltosRecord.MISSING;
+		speak_altitude = AltosRecord.MISSING;
+
+		callsign = null;
+
+		accel_plus_g = AltosRecord.MISSING;
+		accel_minus_g = AltosRecord.MISSING;
+		log_format = AltosRecord.MISSING;
+		serial = AltosRecord.MISSING;
+
+		baro = null;
+	}
+
+	void copy(AltosState old) {
+
+		data = null;
+
+		if (old == null) {
+			init();
+			return;
+		}
+
+		report_time = old.report_time;
+		time = old.time;
+		time_change = old.time_change;
+		tick = old.tick;
+
+		state = old.state;
+		landed = old.landed;
+		ascent = old.ascent;
+		boost = old.boost;
+
+		ground_altitude = old.ground_altitude;
+		altitude = old.altitude;
+		height = old.height;
+		pressure = old.pressure;
+		acceleration = old.acceleration;
+		battery_voltage = old.battery_voltage;
+		pyro_voltage = old.pyro_voltage;
+		temperature = old.temperature;
+		apogee_voltage = old.apogee_voltage;
+		main_voltage = old.main_voltage;
+		accel_speed = old.accel_speed;
+		baro_speed = old.baro_speed;
+
+		prev_height = old.height;
+		prev_speed = old.speed;
+		prev_acceleration = old.acceleration;
+
+		max_height = old.max_height;
+		max_acceleration = old.max_acceleration;
+		max_accel_speed = old.max_accel_speed;
+		max_baro_speed = old.max_baro_speed;
+
+		kalman_height = old.kalman_height;
+		kalman_speed = old.kalman_speed;
+		kalman_acceleration = old.kalman_acceleration;
+
+		if (old.gps != null)
+			gps = old.gps.clone();
+		else
+			gps = null;
+		gps_sequence = old.gps_sequence;
+
+		if (old.imu != null)
+			imu = old.imu.clone();
+		else
+			imu = null;
+
+		if (old.mag != null)
+			mag = old.mag.clone();
+		else
+			mag = null;
+
+		npad = old.npad;
+		gps_waiting = old.gps_waiting;
+		gps_ready = old.gps_ready;
+		ngps = old.ngps;
+
+		if (old.from_pad != null)
+			from_pad = old.from_pad.clone();
+		else
+			from_pad = null;
+
+		elevation = old.elevation;
+		range = old.range;
+
+		gps_height = old.gps_height;
+		pad_lat = old.pad_lat;
+		pad_lon = old.pad_lon;
+		pad_alt = old.pad_alt;
+
+		speak_tick = old.speak_tick;
+		speak_altitude = old.speak_altitude;
+
+		callsign = old.callsign;
+
+		accel_plus_g = old.accel_plus_g;
+		accel_minus_g = old.accel_minus_g;
+		log_format = old.log_format;
+		serial = old.serial;
+
+		baro = old.baro;
+	}
+
+	double ground_altitude() {
+		
+	}
+
+	double altitude() {
+		if (altitude != AltosRecord.MISSING)
+			return altitude;
+		if (gps != null)
+			return gps.alt;
+		return AltosRecord.MISSING;
+	}
+
+	void update_vertical_pos() {
+
+		double	alt = altitude();
+		if (state == AltosLib.ao_flight_pad) {
+			
+		}
+
+		if (kalman_height != AltosRecord.MISSING)
+			height = kalman_height;
+		else if (altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING)
+			height = altitude - ground_altitude;
+		else
+			height = AltosRecord.MISSING;
+
+		update_speed();
+	}
+
+	double motion_filter_value() {
+		return 1/ Math.exp(time_change/10.0);
+	}
+
+	void update_speed() {
+		if (kalman_speed != AltosRecord.MISSING)
+			speed = kalman_speed;
+		else if (state != AltosLib.ao_flight_invalid &&
+			 time_change != AltosRecord.MISSING)
+		{
+			if (ascent && acceleration != AltosRecord.MISSING)
+			{
+				if (prev_speed == AltosRecord.MISSING)
+					speed = acceleration * time_change;
+				else
+					speed = prev_speed + acceleration * time_change;
+			}
+			else if (height != AltosRecord.MISSING &&
+				 prev_height != AltosRecord.MISSING &&
+				 time_change != 0)
+			{
+				double	new_speed = (height - prev_height) / time_change;
+
+				if (prev_speed == AltosRecord.MISSING)
+					speed = new_speed;
+				else {
+					double	filter = motion_filter_value();
+
+					speed = prev_speed * filter + new_speed * (1-filter);
+				}
+			}
+		}
+		if (acceleration == AltosRecord.MISSING) {
+			if (prev_speed != AltosRecord.MISSING && time_change != 0) {
+				double	new_acceleration = (speed - prev_speed) / time_change;
+
+				if (prev_acceleration == AltosRecord.MISSING)
+					acceleration = new_acceleration;
+				else {
+					double filter = motion_filter_value();
+
+					acceleration = prev_acceleration * filter + new_acceleration * (1-filter);
+				}
+			}
+		}
+	}
+	
+	void update_accel() {
+		if (accel == AltosRecord.MISSING)
+			return;
+		if (ground_Accel == AltosRecord.MISSING)
+			return;
+		if (accel_plus_g == AltosRecord.MISSING)
+			return;
+		if (accel_minus_g == AltosRecord.MISSING)
+			return;
+
+		double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
+		double counts_per_mss = counts_per_g / 9.80665;
+
+		acceleration = (ground_accel - accel) / counts_per_mss;
+		update_speed();
+	}
+
+	public void set_tick(int tick) {
+		if (tick != AltosRecord.MISSING) {
+			if (this.tick != AltosRecord.MISSING) {
+				while (tick < this.tick)
+					tick += 65536;
+				time_change = (tick - this.tick) / 100.0;
+			} else
+				time_change = 0;
+			this.tick = tick;
+			update_time();
+		}
+	}
+
+	public void set_state(int state) {
+		if (state != AltosLib.ao_flight_invalid) {
+			this.state = state;
+			ascent = (AltosLib.ao_flight_boost <= state &&
+				  state <= AltosLib.ao_flight_coast);
+			boost = (AltosLib.ao_flight_boost == state);
+		}
+
+	}
+
+	public void set_altitude(double altitude) {
+		if (altitude != AltosRecord.MISSING) {
+			this.altitude = altitude;
+			update_vertical_pos();
+		}
+	}
+
+	public void set_ground_altitude(double ground_altitude) {
+		if (ground_altitude != AltosRecord.MISSING) {
+			this.ground_altitude = ground_altitude;
+			update_vertical_pos();
+		}
+	}
+
+	public void set_gps(AltosGPS gps, int sequence) {
+		if (gps != null) {
+			this.gps = gps.clone();
+			gps_sequence = sequence;
+			update_vertical_pos();
+		}
+	}
+
+	public void set_kalman(double height, double speed, double acceleration) {
+		if (height != AltosRecord.MISSING) {
+			kalman_height = height;
+			kalman_speed = speed;
+			kalman_acceleration = acceleration;
+			baro_speed = accel_speed = speed;
+			update_vertical_pos();
+		}
+	}
+
+	public void set_pressure(double pressure) {
+		if (pressure != AltosRecord.MISSING) {
+			this.pressure = pressure;
+			set_altitude(AltosConvert.pressure_to_altitude(pressure));
+		}
+	}
+
+	public void set_accel_g(double accel_plus_g, double accel_minus_g) {
+		if (accel_plus_g != AltosRecord.MISSING) {
+			this.accel_plus_g = accel_plus_g;
+			this.accel_minus_g = accel_minus_g;
+			update_accel();
+		}
+	}
+	public void set_ground_accel(double ground_accel) {
+		if (ground_accel != AltosRecord.MISSING) {
+			this.ground_accel = ground_accel;
+			update_accel();
+		}
+	}
+
+	public void set_accel(double accel) {
+		if (accel != AltosRecord.MISSING) {
+			this.accel = accel;
+		}
+		update_accel();
+	}
+
+	public void set_temperature(double temperature) {
+		if (temperature != AltosRecord.MISSING)
+			this.temperature = temperature;
+	}
+
+	public void set_battery_voltage(double battery_voltage) {
+		if (battery_voltage != AltosRecord.MISSING)
+			this.battery_voltage = battery_voltage;
+	}
+
+	public void set_pyro_voltage(double pyro_voltage) {
+		if (pyro_voltage != AltosRecord.MISSING)
+			this.pyro_voltage = pyro_voltage;
+	}
+
+	public void set_apogee_voltage(double apogee_voltage) {
+		if (apogee_voltage != AltosRecord.MISSING)
+			this.apogee_voltage = apogee_voltage;
+	}
+
+	public void set_main_voltage(double main_voltage) {
+		if (main_voltage != AltosRecord.MISSING)
+			this.main_voltage = main_voltage;
+	}
+
 	public void init (AltosRecord cur, AltosState prev_state) {
-		int		i;
-		AltosRecord prev;
+
+		if (cur == null)
+			cur = new AltosRecord();
 
 		data = cur;
 
-		ground_altitude = data.ground_altitude();
-		height = data.filtered_height();
+		/* Discard previous state if it was for a different board */
+		if (prev_state != null && prev_state.serial != cur.serial)
+			prev_state = null;
+
+		copy(prev_state);
+
+		set_ground_altitude(data.ground_altitude());
+		set_altitude(data.altitude());
+
+		set_kalman(data.kalman_height, data.kalman_speed, data.kalman_acceleration);
 
 		report_time = System.currentTimeMillis();
 
-		acceleration = data.acceleration();
-		speed = data.accel_speed();
-		temperature = data.temperature();
-		drogue_sense = data.drogue_voltage();
-		main_sense = data.main_voltage();
-		battery = data.battery_voltage();
-		tick = data.tick;
-		state = data.state;
+		set_temperature(data.temperature());
+		set_apogee_voltage(data.drogue_voltage());
+		set_main_voltage(data.main_voltage());
+		set_battery_voltage(data.battery_voltage());
+
+		set_pressure(data.pressure());
+
+		set_tick(data.tick);
+		set_state(data.state);
+
+		set_accel_g (data.accel_minus_g, data.accel_plus_g);
+		set_ground_accel(data.ground_accel);
+		set_accel (data.accel);
+
+		set_gps(data.gps, data.gps_sequence);
 
 		if (prev_state != null) {
 
-			/* Preserve any existing gps data */
-			npad = prev_state.npad;
-			ngps = prev_state.ngps;
-			gps = prev_state.gps;
-			pad_lat = prev_state.pad_lat;
-			pad_lon = prev_state.pad_lon;
-			pad_alt = prev_state.pad_alt;
-			max_height = prev_state.max_height;
-			max_acceleration = prev_state.max_acceleration;
-			max_speed = prev_state.max_speed;
-			max_baro_speed = prev_state.max_baro_speed;
-			imu = prev_state.imu;
-			mag = prev_state.mag;
-
-			/* make sure the clock is monotonic */
-			while (tick < prev_state.tick)
-				tick += 65536;
-
-			time_change = (tick - prev_state.tick) / 100.0;
-
-			/* compute barometric speed */
-
-			double height_change = height - prev_state.height;
-			if (data.speed != AltosRecord.MISSING)
-				baro_speed = data.speed;
-			else {
+			if (data.kalman_speed != AltosRecord.MISSING) {
+				baro_speed = accel_speed = data.kalman_speed;
+			} else {
+				/* compute barometric speed */
+
+				double height_change = height - prev_state.height;
+
+				double prev_baro_speed = prev_state.baro_speed;
+				if (prev_baro_speed == AltosRecord.MISSING)
+					prev_baro_speed = 0;
+
 				if (time_change > 0)
-					baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
+					baro_speed = (prev_baro_speed * 3 + (height_change / time_change)) / 4.0;
 				else
 					baro_speed = prev_state.baro_speed;
+
+				double prev_accel_speed = prev_state.accel_speed;
+
+				if (prev_accel_speed == AltosRecord.MISSING)
+					prev_accel_speed = 0;
+
+				if (acceleration == AltosRecord.MISSING) {
+					/* Fill in mising acceleration value */
+					accel_speed = baro_speed;
+
+					if (time_change > 0 && accel_speed != AltosRecord.MISSING)
+						acceleration = (accel_speed - prev_accel_speed) / time_change;
+					else
+						acceleration = prev_state.acceleration;
+				} else {
+					/* compute accelerometer speed */
+					accel_speed = prev_accel_speed + acceleration * time_change;
+				}
 			}
 		} else {
 			npad = 0;
 			ngps = 0;
 			gps = null;
-			baro_speed = 0;
+			gps_sequence = 0;
+			baro_speed = AltosRecord.MISSING;
+			accel_speed = AltosRecord.MISSING;
+			pad_alt = AltosRecord.MISSING;
+			max_baro_speed = 0;
+			max_accel_speed = 0;
+			max_height = 0;
+			max_acceleration = 0;
 			time_change = 0;
+			baro = new AltosMs5607();
+			callsign = "";
+			accel_plus_g = AltosRecord.MISSING;
+			accel_minus_g = AltosRecord.MISSING;
+			log_format = AltosRecord.MISSING;
+			serial = AltosRecord.MISSING;
 		}
 
 		time = tick / 100.0;
 
-		if (cur.new_gps && (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_idle)) {
+		if (data.gps != null && data.gps_sequence != gps_sequence && (state < AltosLib.ao_flight_boost)) {
 
 			/* Track consecutive 'good' gps reports, waiting for 10 of them */
 			if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
-				npad++;
+				set_npad(npad+1);
 			else
-				npad = 0;
+				set_npad(0);
 
 			/* Average GPS data while on the pad */
 			if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
-				if (ngps > 1) {
+				if (ngps > 1 && state == AltosLib.ao_flight_pad) {
 					/* filter pad position */
 					pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
 					pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
@@ -160,49 +592,45 @@ public class AltosState {
 				}
 				ngps++;
 			}
-		} else
-			pad_alt = ground_altitude;
-
-		gps_waiting = MIN_PAD_SAMPLES - npad;
-		if (gps_waiting < 0)
-			gps_waiting = 0;
-
-		gps_ready = gps_waiting == 0;
+		} else {
+			if (ngps == 0 && ground_altitude != AltosRecord.MISSING)
+				pad_alt = ground_altitude;
+		}
 
-		ascent = (AltosLib.ao_flight_boost <= state &&
-			  state <= AltosLib.ao_flight_coast);
-		boost = (AltosLib.ao_flight_boost == state);
+		gps_sequence = data.gps_sequence;
 
 		/* Only look at accelerometer data under boost */
-		if (boost && acceleration > max_acceleration && acceleration != AltosRecord.MISSING)
+		if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
 			max_acceleration = acceleration;
-		if (boost && speed > max_speed && speed != AltosRecord.MISSING)
-			max_speed = speed;
-		if (boost && baro_speed > max_baro_speed && baro_speed != AltosRecord.MISSING)
+		if (boost && accel_speed != AltosRecord.MISSING && accel_speed > max_accel_speed)
+			max_accel_speed = accel_speed;
+		if (boost && baro_speed != AltosRecord.MISSING && baro_speed > max_baro_speed)
 			max_baro_speed = baro_speed;
 
-		if (height > max_height && height != AltosRecord.MISSING)
+		if (height != AltosRecord.MISSING && height > max_height)
 			max_height = height;
-		if (data.gps != null) {
-			if (gps == null || !gps.locked || data.gps.locked)
-				gps = data.gps;
-			if (ngps > 0 && gps.locked) {
-				from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
-			}
-		}
 		elevation = 0;
 		range = -1;
-		if (ngps > 0) {
-			gps_height = gps.alt - pad_alt;
-			if (from_pad != null) {
-				elevation = Math.atan2(height, from_pad.distance) * 180 / Math.PI;
-				range = Math.sqrt(height * height + from_pad.distance * from_pad.distance);
+		gps_height = 0;
+		if (data.gps != null) {
+			gps = data.gps;
+			if (ngps > 0 && gps.locked) {
+				double h = height;
+
+				if (h == AltosRecord.MISSING) h = 0;
+				from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
+				elevation = from_pad.elevation;
+				range = from_pad.range;
+				gps_height = gps.alt - pad_alt;
 			}
-		} else {
-			gps_height = 0;
 		}
 	}
 
+	public AltosState clone() {
+		AltosState s = new AltosState(data, this);
+		return s;
+	}
+
 	public AltosState(AltosRecord cur) {
 		init(cur, null);
 	}