git.gag.com Git - fw/altos/blob - altoslib/AltosFlightSeries.java

   1 /*
   2  * Copyright © 2017 Keith Packard <keithp@keithp.com>
   3  *
   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.
   8  *
   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.
  13  */
  14
  15 package org.altusmetrum.altoslib_11;
  16
  17 import java.util.*;
  18
  19 public class AltosFlightSeries extends AltosDataListener {
  20
  21         public ArrayList<AltosTimeSeries> series = new ArrayList<AltosTimeSeries>();
  22
  23         public double   speed_filter_width = 4.0;
  24         public double   accel_filter_width = 4.0;
  25
  26         public int[] indices() {
  27                 int[] indices = new int[series.size()];
  28                 for (int i = 0; i < indices.length; i++)
  29                         indices[i] = -1;
  30                 step_indices(indices);
  31                 return indices;
  32         }
  33
  34         private double time(int id, int index) {
  35                 AltosTimeSeries         s = series.get(id);
  36
  37                 if (index < 0)
  38                         return Double.NEGATIVE_INFINITY;
  39
  40                 if (index < s.values.size())
  41                         return s.values.get(index).time;
  42                 return Double.POSITIVE_INFINITY;
  43         }
  44
  45         public boolean step_indices(int[] indices) {
  46                 double  min_next = time(0, indices[0]+1);
  47
  48                 for (int i = 1; i < indices.length; i++) {
  49                         double next = time(i, indices[i]+1);
  50                         if (next < min_next)
  51                                 min_next = next;
  52                 }
  53
  54                 if (min_next == Double.POSITIVE_INFINITY)
  55                         return false;
  56
  57                 for (int i = 0; i < indices.length; i++) {
  58                         double  t = time(i, indices[i] + 1);
  59
  60                         if (t <= min_next)
  61                                 indices[i]++;
  62                 }
  63                 return true;
  64         }
  65
  66         public double time(int[] indices) {
  67                 double max = time(0, indices[0]);
  68
  69                 for (int i = 1; i < indices.length; i++) {
  70                         double t = time(i, indices[i]);
  71                         if (t >= max)
  72                                 max = t;
  73                 }
  74                 return max;
  75         }
  76
  77         public double value(String name, int[] indices) {
  78                 for (int i = 0; i < indices.length; i++) {
  79                         AltosTimeSeries s = series.get(i);
  80                         if (s.label.equals(name)) {
  81                                 int index = indices[i];
  82                                 if (index < 0)
  83                                         index = 0;
  84                                 if (index >= s.values.size())
  85                                         index = s.values.size() - 1;
  86                                 return s.values.get(index).value;
  87                         }
  88                 }
  89                 return AltosLib.MISSING;
  90         }
  91
  92         public double value(String name, double time) {
  93                 for (AltosTimeSeries s : series) {
  94                         if (s.label.equals(name))
  95                                 return s.value(time);
  96                 }
  97                 return AltosLib.MISSING;
  98         }
  99
 100         public double value_before(String name, double time) {
 101                 for (AltosTimeSeries s : series) {
 102                         if (s.label.equals(name))
 103                                 return s.value_before(time);
 104                 }
 105                 return AltosLib.MISSING;
 106         }
 107
 108         public double value_after(String name, double time) {
 109                 for (AltosTimeSeries s : series) {
 110                         if (s.label.equals(name))
 111                                 return s.value_after(time);
 112                 }
 113                 return AltosLib.MISSING;
 114         }
 115
 116         public AltosTimeSeries make_series(String label, AltosUnits units) {
 117                 return new AltosTimeSeries(label, units);
 118         }
 119
 120         public void add_series(AltosTimeSeries s) {
 121                 series.add(s);
 122         }
 123
 124         public AltosTimeSeries add_series(String label, AltosUnits units) {
 125                 AltosTimeSeries s = make_series(label, units);
 126                 add_series(s);
 127                 return s;
 128         }
 129
 130         public void remove_series(AltosTimeSeries s) {
 131                 series.remove(s);
 132         }
 133
 134         public boolean has_series(String label) {
 135                 for (AltosTimeSeries s : series)
 136                         if (s.label.equals(label))
 137                                 return true;
 138                 return false;
 139         }
 140
 141         public AltosTimeSeries state_series;
 142
 143         public static final String state_name = "State";
 144
 145         public void set_state(int state) {
 146
 147                 if (state == AltosLib.ao_flight_pad)
 148                         return;
 149
 150                 if (state_series == null)
 151                         state_series = add_series(state_name, AltosConvert.state_name);
 152                 else if (this.state == state)
 153                         return;
 154                 this.state = state;
 155                 state_series.add(time(), state);
 156         }
 157
 158         public AltosTimeSeries  accel_series;
 159
 160         public static final String accel_name = "Accel";
 161
 162         public AltosTimeSeries  vert_accel_series;
 163
 164         public static final String vert_accel_name = "Vertical Accel";
 165
 166         public void set_acceleration(double acceleration) {
 167                 if (acceleration == AltosLib.MISSING)
 168                         return;
 169                 if (accel_series == null)
 170                         accel_series = add_series(accel_name, AltosConvert.accel);
 171
 172                 accel_series.add(time(), acceleration);
 173         }
 174
 175         private void compute_accel() {
 176                 if (accel_series != null)
 177                         return;
 178
 179                 if (speed_series != null) {
 180                         AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
 181                         speed_series.filter(temp_series, accel_filter_width);
 182                         accel_series = add_series(accel_name, AltosConvert.accel);
 183                         temp_series.differentiate(accel_series);
 184                 }
 185         }
 186
 187         public void set_received_time(long received_time) {
 188         }
 189
 190         public AltosTimeSeries rssi_series;
 191
 192         public static final String rssi_name = "RSSI";
 193
 194         public AltosTimeSeries status_series;
 195
 196         public static final String status_name = "Radio Status";
 197
 198         public void set_rssi(int rssi, int status) {
 199                 if (rssi_series == null) {
 200                         rssi_series = add_series(rssi_name, null);
 201                         status_series = add_series(status_name, null);
 202                 }
 203                 rssi_series.add(time(), rssi);
 204                 status_series.add(time(), status);
 205         }
 206
 207         public AltosTimeSeries pressure_series;
 208
 209         public static final String pressure_name = "Pressure";
 210
 211         public AltosTimeSeries altitude_series;
 212
 213         public static final String altitude_name = "Altitude";
 214
 215         public AltosTimeSeries height_series;
 216
 217         public static final String height_name = "Height";
 218
 219         public  void set_pressure(double pa) {
 220                 if (pa == AltosLib.MISSING)
 221                         return;
 222
 223                 if (pressure_series == null)
 224                         pressure_series = add_series(pressure_name, AltosConvert.pressure);
 225                 pressure_series.add(time(), pa);
 226                 if (altitude_series == null)
 227                         altitude_series = add_series(altitude_name, AltosConvert.height);
 228
 229                 if (cal_data.ground_pressure == AltosLib.MISSING)
 230                         cal_data.set_ground_pressure(pa);
 231
 232                 double altitude = AltosConvert.pressure_to_altitude(pa);
 233                 altitude_series.add(time(), altitude);
 234         }
 235
 236         private void compute_height() {
 237                 double ground_altitude = cal_data.ground_altitude;
 238                 if (height_series == null && ground_altitude != AltosLib.MISSING && altitude_series != null) {
 239                         height_series = add_series(height_name, AltosConvert.height);
 240                         for (AltosTimeValue alt : altitude_series)
 241                                 height_series.add(alt.time, alt.value - ground_altitude);
 242                 }
 243
 244                 if (gps_height == null && cal_data.gps_pad != null && cal_data.gps_pad.alt != AltosLib.MISSING && gps_altitude != null) {
 245                         double gps_ground_altitude = cal_data.gps_pad.alt;
 246                         gps_height = add_series(gps_height_name, AltosConvert.height);
 247                         for (AltosTimeValue gps_alt : gps_altitude)
 248                                 gps_height.add(gps_alt.time, gps_alt.value - gps_ground_altitude);
 249                 }
 250         }
 251
 252         public AltosTimeSeries speed_series;
 253
 254         public static final String speed_name = "Speed";
 255
 256         private void compute_speed() {
 257                 if (speed_series != null)
 258                         return;
 259
 260                 AltosTimeSeries alt_speed_series = null;
 261                 AltosTimeSeries accel_speed_series = null;
 262
 263                 if (altitude_series != null) {
 264                         AltosTimeSeries temp_series = make_series(altitude_name, AltosConvert.height);
 265                         altitude_series.filter(temp_series, speed_filter_width);
 266
 267                         alt_speed_series = make_series(speed_name, AltosConvert.speed);
 268                         temp_series.differentiate(alt_speed_series);
 269                 }
 270                 if (accel_series != null) {
 271
 272                         if (orient_series != null) {
 273                                 vert_accel_series = add_series(vert_accel_name, AltosConvert.accel);
 274
 275                                 for (AltosTimeValue a : accel_series) {
 276                                         double  orient = orient_series.value(a.time);
 277                                         double  a_abs = a.value + AltosConvert.gravity;
 278                                         double  v_a = a_abs * Math.cos(AltosConvert.degrees_to_radians(orient)) - AltosConvert.gravity;
 279
 280                                         vert_accel_series.add(a.time, v_a);
 281                                 }
 282                         }
 283
 284                         AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
 285
 286                         if (vert_accel_series != null)
 287                                 vert_accel_series.integrate(temp_series);
 288                         else
 289                                 accel_series.integrate(temp_series);
 290
 291                         accel_speed_series = make_series(speed_name, AltosConvert.speed);
 292                         temp_series.filter(accel_speed_series, 0.1);
 293                 }
 294
 295                 if (alt_speed_series != null && accel_speed_series != null) {
 296                         double  apogee_time = AltosLib.MISSING;
 297                         if (state_series != null) {
 298                                 for (AltosTimeValue d : state_series) {
 299                                         if (d.value >= AltosLib.ao_flight_drogue){
 300                                                 apogee_time = d.time;
 301                                                 break;
 302                                         }
 303                                 }
 304                         }
 305                         if (apogee_time == AltosLib.MISSING) {
 306                                 speed_series = alt_speed_series;
 307                         } else {
 308                                 speed_series = make_series(speed_name, AltosConvert.speed);
 309                                 for (AltosTimeValue d : accel_speed_series) {
 310                                         if (d.time <= apogee_time)
 311                                                 speed_series.add(d);
 312                                 }
 313                                 for (AltosTimeValue d : alt_speed_series) {
 314                                         if (d.time > apogee_time)
 315                                                 speed_series.add(d);
 316                                 }
 317
 318                         }
 319                 } else if (alt_speed_series != null) {
 320                         speed_series = alt_speed_series;
 321                 } else if (accel_speed_series != null) {
 322                         speed_series = accel_speed_series;
 323                 }
 324                 if (speed_series != null)
 325                         add_series(speed_series);
 326         }
 327
 328         public AltosTimeSeries orient_series;
 329
 330         public static final String orient_name = "Tilt Angle";
 331
 332         private void compute_orient() {
 333
 334                 if (orient_series != null)
 335                         return;
 336
 337                 if (accel_ground_across == AltosLib.MISSING)
 338                         return;
 339
 340                 if (cal_data.pad_orientation == AltosLib.MISSING)
 341                         return;
 342
 343                 if (cal_data.accel_zero_across == AltosLib.MISSING)
 344                         return;
 345
 346                 AltosRotation rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data.accel_zero_across),
 347                                                            AltosIMU.convert_accel(accel_ground_through - cal_data.accel_zero_through),
 348                                                            AltosIMU.convert_accel(accel_ground_along - cal_data.accel_zero_along),
 349                                                            cal_data.pad_orientation);
 350                 double prev_time = ground_time;
 351
 352                 orient_series = add_series(orient_name, AltosConvert.orient);
 353                 orient_series.add(ground_time, rotation.tilt());
 354
 355                 for (AltosTimeValue roll_v : gyro_roll) {
 356                         double  time = roll_v.time;
 357                         double  dt = time - prev_time;
 358
 359                         if (dt > 0) {
 360                                 double  roll = AltosConvert.degrees_to_radians(roll_v.value);
 361                                 double  pitch = AltosConvert.degrees_to_radians(gyro_pitch.value(time));
 362                                 double  yaw = AltosConvert.degrees_to_radians(gyro_yaw.value(time));
 363
 364                                 rotation.rotate(dt, pitch, yaw, roll);
 365                                 orient_series.add(time, rotation.tilt());
 366                         }
 367                         prev_time = time;
 368                 }
 369         }
 370
 371         public AltosTimeSeries  kalman_height_series, kalman_speed_series, kalman_accel_series;
 372
 373         public static final String kalman_height_name = "Kalman Height";
 374         public static final String kalman_speed_name = "Kalman Speed";
 375         public static final String kalman_accel_name = "Kalman Accel";
 376
 377         public void set_kalman(double height, double speed, double acceleration) {
 378                 if (kalman_height_series == null) {
 379                         kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
 380                         kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
 381                         kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
 382                 }
 383                 kalman_height_series.add(time(), height);
 384                 kalman_speed_series.add(time(), speed);
 385                 kalman_accel_series.add(time(), acceleration);
 386         }
 387
 388         public AltosTimeSeries thrust_series;
 389
 390         public static final String thrust_name = "Thrust";
 391
 392         public  void set_thrust(double N) {
 393                 if (thrust_series == null)
 394                         thrust_series = add_series(thrust_name, AltosConvert.force);
 395                 thrust_series.add(time(), N);
 396         }
 397
 398         public AltosTimeSeries temperature_series;
 399
 400         public static final String temperature_name = "Temperature";
 401
 402         public  void set_temperature(double deg_c) {
 403                 if (temperature_series == null)
 404                         temperature_series = add_series(temperature_name, AltosConvert.temperature);
 405                 temperature_series.add(time(), deg_c);
 406         }
 407
 408         public AltosTimeSeries battery_voltage_series;
 409
 410         public static final String battery_voltage_name = "Battery Voltage";
 411
 412         public void set_battery_voltage(double volts) {
 413                 if (volts == AltosLib.MISSING)
 414                         return;
 415                 if (battery_voltage_series == null)
 416                         battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
 417                 battery_voltage_series.add(time(), volts);
 418         }
 419
 420         public AltosTimeSeries apogee_voltage_series;
 421
 422         public static final String apogee_voltage_name = "Apogee Voltage";
 423
 424         public void set_apogee_voltage(double volts) {
 425                 if (volts == AltosLib.MISSING)
 426                         return;
 427                 if (apogee_voltage_series == null)
 428                         apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
 429                 apogee_voltage_series.add(time(), volts);
 430         }
 431
 432         public AltosTimeSeries main_voltage_series;
 433
 434         public static final String main_voltage_name = "Main Voltage";
 435
 436         public void set_main_voltage(double volts) {
 437                 if (volts == AltosLib.MISSING)
 438                         return;
 439                 if (main_voltage_series == null)
 440                         main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
 441                 main_voltage_series.add(time(), volts);
 442         }
 443
 444         public ArrayList<AltosGPSTimeValue> gps_series;
 445
 446         public AltosGPS gps_before(double time) {
 447                 AltosGPS gps = null;
 448                 for (AltosGPSTimeValue gtv : gps_series)
 449                         if (gtv.time <= time)
 450                                 gps = gtv.gps;
 451                         else
 452                                 break;
 453                 return gps;
 454         }
 455
 456         public AltosTimeSeries  sats_in_view;
 457         public AltosTimeSeries sats_in_soln;
 458         public AltosTimeSeries gps_altitude;
 459         public AltosTimeSeries gps_height;
 460         public AltosTimeSeries gps_ground_speed;
 461         public AltosTimeSeries gps_ascent_rate;
 462         public AltosTimeSeries gps_course;
 463         public AltosTimeSeries gps_speed;
 464         public AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
 465
 466         public static final String sats_in_view_name = "Satellites in view";
 467         public static final String sats_in_soln_name = "Satellites in solution";
 468         public static final String gps_altitude_name = "GPS Altitude";
 469         public static final String gps_height_name = "GPS Height";
 470         public static final String gps_ground_speed_name = "GPS Ground Speed";
 471         public static final String gps_ascent_rate_name = "GPS Ascent Rate";
 472         public static final String gps_course_name = "GPS Course";
 473         public static final String gps_speed_name = "GPS Speed";
 474         public static final String gps_pdop_name = "GPS Dilution of Precision";
 475         public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
 476         public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
 477
 478         public void set_gps(AltosGPS gps) {
 479                 if (gps_series == null)
 480                         gps_series = new ArrayList<AltosGPSTimeValue>();
 481                 gps_series.add(new AltosGPSTimeValue(time(), gps));
 482
 483                 if (sats_in_soln == null) {
 484                         sats_in_soln = add_series(sats_in_soln_name, null);
 485                 }
 486                 sats_in_soln.add(time(), gps.nsat);
 487                 if (gps.pdop != AltosLib.MISSING) {
 488                         if (gps_pdop == null)
 489                                 gps_pdop = add_series(gps_pdop_name, null);
 490                         gps_pdop.add(time(), gps.pdop);
 491                 }
 492                 if (gps.hdop != AltosLib.MISSING) {
 493                         if (gps_hdop == null)
 494                                 gps_hdop = add_series(gps_hdop_name, null);
 495                         gps_hdop.add(time(), gps.hdop);
 496                 }
 497                 if (gps.vdop != AltosLib.MISSING) {
 498                         if (gps_vdop == null)
 499                                 gps_vdop = add_series(gps_vdop_name, null);
 500                         gps_vdop.add(time(), gps.vdop);
 501                 }
 502                 if (gps.locked) {
 503                         if (gps.alt != AltosLib.MISSING) {
 504                                 if (gps_altitude == null)
 505                                         gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
 506                                 gps_altitude.add(time(), gps.alt);
 507                         }
 508                         if (gps.ground_speed != AltosLib.MISSING) {
 509                                 if (gps_ground_speed == null)
 510                                         gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
 511                                 gps_ground_speed.add(time(), gps.ground_speed);
 512                         }
 513                         if (gps.climb_rate != AltosLib.MISSING) {
 514                                 if (gps_ascent_rate == null)
 515                                         gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
 516                                 gps_ascent_rate.add(time(), gps.climb_rate);
 517                         }
 518                         if (gps.course != AltosLib.MISSING) {
 519                                 if (gps_course == null)
 520                                         gps_course = add_series(gps_course_name, null);
 521                                 gps_course.add(time(), gps.course);
 522                         }
 523                         if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING) {
 524                                 if (gps_speed == null)
 525                                         gps_speed = add_series(gps_speed_name, null);
 526                                 gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
 527                                                                 gps.climb_rate * gps.climb_rate));
 528                         }
 529                 }
 530                 if (gps.cc_gps_sat != null) {
 531                         if (sats_in_view == null)
 532                                 sats_in_view = add_series(sats_in_view_name, null);
 533                         sats_in_view.add(time(), gps.cc_gps_sat.length);
 534                 }
 535         }
 536
 537         public static final String accel_along_name = "Accel Along";
 538         public static final String accel_across_name = "Accel Across";
 539         public static final String accel_through_name = "Accel Through";
 540
 541         public AltosTimeSeries accel_along, accel_across, accel_through;
 542
 543         public static final String gyro_roll_name = "Roll Rate";
 544         public static final String gyro_pitch_name = "Pitch Rate";
 545         public static final String gyro_yaw_name = "Yaw Rate";
 546
 547         public AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
 548
 549         public static final String mag_along_name = "Magnetic Field Along";
 550         public static final String mag_across_name = "Magnetic Field Across";
 551         public static final String mag_through_name = "Magnetic Field Through";
 552
 553         public AltosTimeSeries mag_along, mag_across, mag_through;
 554
 555         public  void set_accel(double along, double across, double through) {
 556                 if (accel_along == null) {
 557                         accel_along = add_series(accel_along_name, AltosConvert.accel);
 558                         accel_across = add_series(accel_across_name, AltosConvert.accel);
 559                         accel_through = add_series(accel_through_name, AltosConvert.accel);
 560                 }
 561                 accel_along.add(time(), along);
 562                 accel_across.add(time(), across);
 563                 accel_through.add(time(), through);
 564         }
 565
 566         private double  accel_ground_along = AltosLib.MISSING;
 567         private double  accel_ground_across = AltosLib.MISSING;
 568         private double  accel_ground_through = AltosLib.MISSING;
 569
 570         private double          ground_time;
 571
 572         public  void set_accel_ground(double along, double across, double through) {
 573                 accel_ground_along = along;
 574                 accel_ground_across = across;
 575                 accel_ground_through = through;
 576                 ground_time = time();
 577         }
 578
 579         public  void set_gyro(double roll, double pitch, double yaw) {
 580                 if (gyro_roll == null) {
 581                         gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
 582                         gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
 583                         gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
 584                 }
 585                 gyro_roll.add(time(), roll);
 586                 gyro_pitch.add(time(), pitch);
 587                 gyro_yaw.add(time(), yaw);
 588         }
 589
 590         public  void set_mag(double along, double across, double through) {
 591                 if (mag_along == null) {
 592                         mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
 593                         mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
 594                         mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
 595                 }
 596                 mag_along.add(time(), along);
 597                 mag_across.add(time(), across);
 598                 mag_through.add(time(), through);
 599         }
 600
 601         public void set_orient(double orient) {
 602                 if (orient_series == null)
 603                         orient_series = add_series(orient_name, AltosConvert.orient);
 604                 orient_series.add(time(), orient);
 605         }
 606
 607         public static final String pyro_voltage_name = "Pyro Voltage";
 608
 609         public AltosTimeSeries pyro_voltage;
 610
 611         public  void set_pyro_voltage(double volts) {
 612                 if (pyro_voltage == null)
 613                         pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
 614                 pyro_voltage.add(time(), volts);
 615         }
 616
 617         private static String[] igniter_voltage_names;
 618
 619         public String igniter_voltage_name(int channel) {
 620                 if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
 621                         String[] new_igniter_voltage_names = new String[channel + 1];
 622                         int     i = 0;
 623
 624                         if (igniter_voltage_names != null) {
 625                                 for (; i < igniter_voltage_names.length; i++)
 626                                         new_igniter_voltage_names[i] = igniter_voltage_names[i];
 627                         }
 628                         for (; i < channel+1; i++)
 629                                 new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
 630                         igniter_voltage_names = new_igniter_voltage_names;
 631                 }
 632                 return igniter_voltage_names[channel];
 633         }
 634
 635         public AltosTimeSeries[] igniter_voltage;
 636
 637         public  void set_igniter_voltage(double[] voltage) {
 638                 int channels = voltage.length;
 639                 if (igniter_voltage == null || igniter_voltage.length <= channels) {
 640                         AltosTimeSeries[]       new_igniter_voltage = new AltosTimeSeries[channels + 1];
 641                         int                     i = 0;
 642
 643                         if (igniter_voltage != null) {
 644                                 for (; i < igniter_voltage.length; i++)
 645                                         new_igniter_voltage[i] = igniter_voltage[i];
 646                         }
 647                         for (; i < channels; i++)
 648                                 new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
 649                         igniter_voltage = new_igniter_voltage;
 650                 }
 651                 for (int channel = 0; channel < voltage.length; channel++)
 652                         igniter_voltage[channel].add(time(), voltage[channel]);
 653         }
 654
 655         public static final String pyro_fired_name = "Pyro Channel State";
 656
 657         public AltosTimeSeries pyro_fired_series;
 658
 659         int     last_pyro_mask;
 660
 661         public  void set_pyro_fired(int pyro_mask) {
 662                 if (pyro_fired_series == null)
 663                         pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
 664                 for (int channel = 0; channel < 32; channel++) {
 665                         if ((last_pyro_mask & (1 << channel)) == 0 &&
 666                             (pyro_mask & (1 << channel)) != 0) {
 667                                 pyro_fired_series.add(time(), channel);
 668                         }
 669                 }
 670                 last_pyro_mask = pyro_mask;
 671         }
 672
 673         public void set_companion(AltosCompanion companion) {
 674         }
 675
 676         public void finish() {
 677                 compute_orient();
 678                 compute_speed();
 679                 compute_accel();
 680                 compute_height();
 681         }
 682
 683         public AltosTimeSeries[] series() {
 684                 finish();
 685                 return series.toArray(new AltosTimeSeries[0]);
 686         }
 687
 688         public AltosFlightSeries(AltosCalData cal_data) {
 689                 super(cal_data);
 690         }
 691 }