2 * Copyright © 2017 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation, either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
15 package org.altusmetrum.altoslib_11;
18 * Calibration and other data needed to construct 'real' values from various data
22 public class AltosCalData {
23 public int flight = AltosLib.MISSING;
25 public void set_flight(int flight) {
26 if (flight != AltosLib.MISSING)
30 public String callsign = null;
32 public void set_callsign(String callsign) {
34 this.callsign = callsign;
37 public String firmware_version = null;
39 public void set_firmware_version(String firmware_version) {
40 if (firmware_version != null)
41 this.firmware_version = firmware_version;
44 public String product = null;
46 public void set_product(String product) {
48 this.product = product;
51 public int serial = AltosLib.MISSING;
53 public void set_serial(int serial) {
54 if (serial != AltosLib.MISSING)
58 public int receiver_serial = AltosLib.MISSING;
60 public void set_receiver_serial(int receiver_serial) {
61 if (receiver_serial != AltosLib.MISSING)
62 this.receiver_serial = receiver_serial;
65 public int device_type = AltosLib.MISSING;
67 public void set_device_type(int device_type) {
68 if (device_type != AltosLib.MISSING) {
69 this.device_type = device_type;
71 set_product(AltosLib.product_name(device_type));
75 public int config_major = AltosLib.MISSING;
76 public int config_minor = AltosLib.MISSING;
77 public int flight_log_max = AltosLib.MISSING;
79 public void set_config(int major, int minor, int log_max) {
80 if (major != AltosLib.MISSING)
82 if (minor != AltosLib.MISSING)
84 if (log_max != AltosLib.MISSING)
85 flight_log_max = log_max;
88 public double apogee_delay = AltosLib.MISSING;
89 public double main_deploy = AltosLib.MISSING;
91 public void set_flight_params(double apogee_delay, double main_deploy) {
92 if (apogee_delay != AltosLib.MISSING)
93 this.apogee_delay = apogee_delay;
94 if (main_deploy != AltosLib.MISSING)
95 this.main_deploy = main_deploy;
98 public double accel_plus_g = AltosLib.MISSING;
99 public double accel_minus_g = AltosLib.MISSING;
100 public double ground_accel = AltosLib.MISSING;
102 public void set_accel_plus_minus(double plus, double minus) {
103 if (plus != AltosLib.MISSING && minus != AltosLib.MISSING) {
107 accel_minus_g = minus;
111 public void set_ground_accel(double ground_accel) {
112 if (ground_accel != AltosLib.MISSING)
113 this.ground_accel = ground_accel;
116 /* Raw acceleration value */
117 public double accel = AltosLib.MISSING;
119 public void set_accel(double accel) {
123 public boolean mma655x_inverted = false;
125 public void set_mma655x_inverted(boolean inverted) {
126 mma655x_inverted = inverted;
129 public int pad_orientation = AltosLib.MISSING;
131 public void set_pad_orientation(int orientation) {
132 if (orientation != AltosLib.MISSING)
133 pad_orientation = orientation;
136 /* Compute acceleration */
137 public double acceleration(double sensor) {
138 return AltosConvert.acceleration_from_sensor(sensor, accel_plus_g, accel_minus_g, ground_accel);
141 public AltosMs5607 ms5607 = null;
143 public void set_ms5607(AltosMs5607 ms5607) {
144 this.ms5607 = ms5607;
147 public double ground_pressure = AltosLib.MISSING;
148 public double ground_altitude = AltosLib.MISSING;
150 public void set_ground_pressure(double ground_pressure) {
151 if (ground_pressure != AltosLib.MISSING) {
152 this.ground_pressure = ground_pressure;
153 this.ground_altitude = AltosConvert.pressure_to_altitude(ground_pressure);
157 public void set_ground_altitude(double ground_altitude) {
158 if (ground_altitude != AltosLib.MISSING)
159 this.ground_altitude = ground_altitude;
162 /* Compute pressure */
164 public AltosPresTemp pressure_ms5607(int raw_pres, int raw_temp) {
166 return new AltosPresTemp(AltosLib.MISSING, AltosLib.MISSING);
167 return ms5607.pres_temp(raw_pres, raw_temp);
170 public int tick = AltosLib.MISSING;
171 private int first_tick = AltosLib.MISSING;
172 private int prev_tick = AltosLib.MISSING;
174 public void set_tick(int tick) {
175 if (tick != AltosLib.MISSING) {
176 if (prev_tick != AltosLib.MISSING) {
177 while (tick < prev_tick - 1000) {
181 if (first_tick == AltosLib.MISSING)
188 /* Reset all values which change during flight
190 public void reset() {
191 state = AltosLib.MISSING;
192 tick = AltosLib.MISSING;
193 prev_tick = AltosLib.MISSING;
196 temp_gps_sat_tick = AltosLib.MISSING;
197 accel = AltosLib.MISSING;
200 public int boost_tick = AltosLib.MISSING;
202 public void set_boost_tick() {
206 public double ticks_per_sec = 100.0;
208 public void set_ticks_per_sec(double ticks_per_sec) {
209 this.ticks_per_sec = ticks_per_sec;
212 public double time() {
213 if (tick == AltosLib.MISSING)
214 return AltosLib.MISSING;
215 if (boost_tick != AltosLib.MISSING)
216 return (tick - boost_tick) / ticks_per_sec;
217 if (first_tick != AltosLib.MISSING)
218 return (tick - first_tick) / ticks_per_sec;
219 return tick / ticks_per_sec;
222 public double boost_time() {
223 if (boost_tick == AltosLib.MISSING)
224 return AltosLib.MISSING;
225 return boost_tick / ticks_per_sec;
228 public int state = AltosLib.MISSING;
230 public void set_state(int state) {
231 if (state >= AltosLib.ao_flight_boost && boost_tick == AltosLib.MISSING)
236 public AltosGPS gps_pad = null;
238 public double gps_pad_altitude = AltosLib.MISSING;
240 public void set_gps(AltosGPS gps) {
241 if ((state != AltosLib.MISSING && state < AltosLib.ao_flight_boost) || gps_pad == null)
243 if (gps_pad_altitude == AltosLib.MISSING && gps.alt != AltosLib.MISSING)
244 gps_pad_altitude = gps.alt;
248 * While receiving GPS data, we construct a temporary GPS state
249 * object and then deliver the result atomically to the listener
251 AltosGPS temp_gps = null;
252 AltosGPS prev_gps = null;
253 int temp_gps_sat_tick = AltosLib.MISSING;
255 public AltosGPS temp_gps() {
259 public void reset_temp_gps() {
260 if (temp_gps != null) {
261 if (temp_gps.locked && temp_gps.nsat >= 4)
268 public boolean gps_pending() {
269 return temp_gps != null;
272 public AltosGPS make_temp_gps(int tick, boolean sats) {
273 if (temp_gps == null) {
274 if (prev_gps != null)
275 temp_gps = prev_gps.clone();
277 temp_gps = new AltosGPS();
280 if (tick != temp_gps_sat_tick)
281 temp_gps.cc_gps_sat = null;
282 temp_gps_sat_tick = tick;
287 public double accel_zero_along, accel_zero_across, accel_zero_through;
289 public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
290 if (zero_along != AltosLib.MISSING) {
291 accel_zero_along = zero_along;
292 accel_zero_across = zero_across;
293 accel_zero_through = zero_through;
297 public double accel_along(double counts) {
298 return AltosIMU.convert_accel(counts - accel_zero_along);
301 public double accel_across(double counts) {
302 return AltosIMU.convert_accel(counts - accel_zero_across);
305 public double accel_through(double counts) {
306 return AltosIMU.convert_accel(counts - accel_zero_through);
309 public double gyro_zero_roll, gyro_zero_pitch, gyro_zero_yaw;
311 public void set_gyro_zero(double roll, double pitch, double yaw) {
312 if (roll != AltosLib.MISSING) {
313 gyro_zero_roll = roll;
314 gyro_zero_pitch = pitch;
319 public double gyro_roll(double counts) {
320 if (gyro_zero_roll == AltosLib.MISSING || counts == AltosLib.MISSING)
321 return AltosLib.MISSING;
322 return AltosIMU.convert_gyro(counts - gyro_zero_roll);
325 public double gyro_pitch(double counts) {
326 if (gyro_zero_pitch == AltosLib.MISSING || counts == AltosLib.MISSING)
327 return AltosLib.MISSING;
328 return AltosIMU.convert_gyro(counts - gyro_zero_pitch);
331 public double gyro_yaw(double counts) {
332 if (gyro_zero_yaw == AltosLib.MISSING || counts == AltosLib.MISSING)
333 return AltosLib.MISSING;
334 return AltosIMU.convert_gyro(counts - gyro_zero_yaw);
337 private double gyro_zero_overflow(double first) {
338 double v = first / 128.0;
346 public void check_imu_wrap(double roll, double pitch, double yaw) {
347 gyro_zero_roll += gyro_zero_overflow(roll);
348 gyro_zero_pitch += gyro_zero_overflow(pitch);
349 gyro_zero_yaw += gyro_zero_overflow(yaw);
352 public double mag_along(double along) {
353 if (along == AltosLib.MISSING)
354 return AltosLib.MISSING;
355 return AltosMag.convert_gauss(along);
358 public double mag_across(double across) {
359 if (across == AltosLib.MISSING)
360 return AltosLib.MISSING;
361 return AltosMag.convert_gauss(across);
364 public double mag_through(double through) {
365 if (through == AltosLib.MISSING)
366 return AltosLib.MISSING;
367 return AltosMag.convert_gauss(through);
370 public AltosCalData() {
373 public AltosCalData(AltosConfigData config_data) {
374 set_serial(config_data.serial);
375 set_ticks_per_sec(100.0);
376 set_flight(config_data.flight);
377 set_callsign(config_data.callsign);
378 set_config(config_data.config_major, config_data.config_minor, config_data.flight_log_max);
379 set_firmware_version(config_data.version);
380 set_flight_params(config_data.apogee_delay / ticks_per_sec, config_data.apogee_lockout / ticks_per_sec);
381 set_pad_orientation(config_data.pad_orientation);
382 set_product(config_data.product);
383 set_accel_plus_minus(config_data.accel_cal_plus, config_data.accel_cal_minus);
384 set_accel_zero(config_data.accel_zero_along, config_data.accel_zero_across, config_data.accel_zero_through);
385 set_ms5607(config_data.ms5607);
387 set_mma655x_inverted(config_data.mma655x_inverted());
388 } catch (AltosUnknownProduct up) {
390 set_pad_orientation(config_data.pad_orientation);