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_13;
  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 = 1.0;
  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                 for (int e = 0; e < series.size(); e++) {
 122                         if (s.compareTo(series.get(e)) < 0){
 123                                 series.add(e, s);
 124                                 return;
 125                         }
 126                 }
 127                 series.add(s);
 128         }
 129
 130         public AltosTimeSeries add_series(String label, AltosUnits units) {
 131                 AltosTimeSeries s = make_series(label, units);
 132                 add_series(s);
 133                 return s;
 134         }
 135
 136         public void remove_series(AltosTimeSeries s) {
 137                 series.remove(s);
 138         }
 139
 140         public boolean has_series(String label) {
 141                 for (AltosTimeSeries s : series)
 142                         if (s.label.equals(label))
 143                                 return true;
 144                 return false;
 145         }
 146
 147         public AltosTimeSeries state_series;
 148
 149         public static final String state_name = "State";
 150
 151         public void set_state(int state) {
 152
 153                 if (state != AltosLib.ao_flight_pad && state != AltosLib.MISSING && state != AltosLib.ao_flight_stateless) {
 154                         if (state_series == null)
 155                                 state_series = add_series(state_name, AltosConvert.state_name);
 156                         if (this.state() != state)
 157                                 state_series.add(time(), state);
 158                 }
 159                 super.set_state(state);
 160         }
 161
 162         public AltosTimeSeries  accel_series;
 163         public boolean          accel_computed;
 164
 165         public static final String accel_name = "Accel";
 166
 167         public AltosTimeSeries  vert_accel_series;
 168
 169         public static final String vert_accel_name = "Vertical Accel";
 170
 171         public void set_acceleration(double acceleration) {
 172                 if (acceleration == AltosLib.MISSING)
 173                         return;
 174                 if (accel_series == null)
 175                         accel_series = add_series(accel_name, AltosConvert.accel);
 176
 177                 accel_series.add(time(), acceleration);
 178                 accel_computed = false;
 179         }
 180
 181         private AltosTimeSeries compute_accel() {
 182                 AltosTimeSeries new_accel_series = null;
 183
 184                 if (speed_series != null) {
 185                         AltosTimeSeries temp_series;
 186                         if (accel_filter_width > 0) {
 187                                 temp_series = make_series(speed_name, AltosConvert.speed);
 188                                 speed_series.filter(temp_series, accel_filter_width);
 189                         } else
 190                                 temp_series = speed_series;
 191
 192                         new_accel_series = make_series(accel_name, AltosConvert.accel);
 193                         temp_series.differentiate(new_accel_series);
 194                 }
 195                 return new_accel_series;
 196         }
 197
 198         public void set_filter(double speed_filter, double accel_filter) {
 199                 this.speed_filter_width = speed_filter;
 200                 this.accel_filter_width = accel_filter;
 201
 202                 AltosTimeSeries new_speed_series = compute_speed();
 203
 204                 if (new_speed_series != null) {
 205                         speed_series.erase_values();
 206                         for (AltosTimeValue tv : new_speed_series)
 207                                 speed_series.add(tv);
 208                 }
 209                 if (accel_computed) {
 210                         AltosTimeSeries new_accel_series = compute_accel();
 211                         if (new_accel_series != null) {
 212                                 accel_series.erase_values();
 213                                 for (AltosTimeValue tv : new_accel_series)
 214                                         accel_series.add(tv);
 215                         }
 216                 }
 217         }
 218
 219         public void set_received_time(long received_time) {
 220         }
 221
 222         public AltosTimeSeries tick_series;
 223
 224         public static final String tick_name = "Tick";
 225
 226         public void set_tick(int tick) {
 227                 super.set_tick(tick);
 228                 if (tick_series == null)
 229                         tick_series = add_series(tick_name, null);
 230                 tick_series.add(time(), tick);
 231         }
 232
 233         public AltosTimeSeries rssi_series;
 234
 235         public static final String rssi_name = "RSSI";
 236
 237         public AltosTimeSeries status_series;
 238
 239         public static final String status_name = "Radio Status";
 240
 241         public void set_rssi(int rssi, int status) {
 242                 if (rssi_series == null) {
 243                         rssi_series = add_series(rssi_name, null);
 244                         status_series = add_series(status_name, null);
 245                 }
 246                 rssi_series.add(time(), rssi);
 247                 status_series.add(time(), status);
 248         }
 249
 250         public AltosTimeSeries pressure_series;
 251
 252         public static final String pressure_name = "Pressure";
 253
 254         public AltosTimeSeries altitude_series;
 255
 256         public static final String altitude_name = "Altitude";
 257
 258         public AltosTimeSeries height_series;
 259
 260         public double max_height = AltosLib.MISSING;
 261
 262         public  void set_min_pressure(double pa) {
 263                 double ground_altitude = cal_data().ground_altitude;
 264                 if (ground_altitude != AltosLib.MISSING)
 265                         max_height = AltosConvert.pressure_to_altitude(pa) -
 266                                 ground_altitude;
 267         }
 268
 269         public static final String height_name = "Height";
 270
 271         public  void set_pressure(double pa) {
 272                 if (pa == AltosLib.MISSING)
 273                         return;
 274
 275                 if (pressure_series == null)
 276                         pressure_series = add_series(pressure_name, AltosConvert.pressure);
 277                 pressure_series.add(time(), pa);
 278                 if (altitude_series == null)
 279                         altitude_series = add_series(altitude_name, AltosConvert.height);
 280
 281                 if (cal_data().ground_pressure == AltosLib.MISSING)
 282                         cal_data().set_ground_pressure(pa);
 283
 284                 double altitude = AltosConvert.pressure_to_altitude(pa);
 285                 altitude_series.add(time(), altitude);
 286         }
 287
 288         private void compute_height() {
 289                 double ground_altitude = cal_data().ground_altitude;
 290                 if (height_series == null && ground_altitude != AltosLib.MISSING && altitude_series != null) {
 291                         height_series = add_series(height_name, AltosConvert.height);
 292                         for (AltosTimeValue alt : altitude_series)
 293                                 height_series.add(alt.time, alt.value - ground_altitude);
 294                 }
 295
 296                 if (gps_height == null && cal_data().gps_pad != null && cal_data().gps_pad.alt != AltosLib.MISSING && gps_altitude != null) {
 297                         double gps_ground_altitude = cal_data().gps_pad.alt;
 298                         gps_height = add_series(gps_height_name, AltosConvert.height);
 299                         for (AltosTimeValue gps_alt : gps_altitude)
 300                                 gps_height.add(gps_alt.time, gps_alt.value - gps_ground_altitude);
 301                 }
 302         }
 303
 304         public AltosTimeSeries speed_series;
 305
 306         public static final String speed_name = "Speed";
 307
 308         private AltosTimeSeries compute_speed() {
 309                 AltosTimeSeries new_speed_series = null;
 310                 AltosTimeSeries alt_speed_series = null;
 311                 AltosTimeSeries accel_speed_series = null;
 312
 313                 if (altitude_series != null) {
 314                         AltosTimeSeries temp_series;
 315
 316                         if (speed_filter_width > 0) {
 317                                 temp_series = make_series(speed_name, AltosConvert.height);
 318                                 altitude_series.filter(temp_series, speed_filter_width);
 319                         } else
 320                                 temp_series = altitude_series;
 321
 322                         alt_speed_series = make_series(speed_name, AltosConvert.speed);
 323                         temp_series.differentiate(alt_speed_series);
 324                 }
 325                 if (accel_series != null && !accel_computed) {
 326
 327                         if (orient_series != null) {
 328                                 vert_accel_series = add_series(vert_accel_name, AltosConvert.accel);
 329
 330                                 for (AltosTimeValue a : accel_series) {
 331                                         double  orient = orient_series.value(a.time);
 332                                         double  a_abs = a.value + AltosConvert.gravity;
 333                                         double  v_a = a_abs * Math.cos(AltosConvert.degrees_to_radians(orient)) - AltosConvert.gravity;
 334
 335                                         vert_accel_series.add(a.time, v_a);
 336                                 }
 337                         }
 338
 339                         AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
 340
 341                         if (vert_accel_series != null)
 342                                 vert_accel_series.integrate(temp_series);
 343                         else
 344                                 accel_series.integrate(temp_series);
 345
 346                         accel_speed_series = make_series(speed_name, AltosConvert.speed);
 347                         temp_series.filter(accel_speed_series, 0.1);
 348                 }
 349
 350                 if (alt_speed_series != null && accel_speed_series != null) {
 351                         double  apogee_time = AltosLib.MISSING;
 352                         if (state_series != null) {
 353                                 for (AltosTimeValue d : state_series) {
 354                                         if (d.value >= AltosLib.ao_flight_drogue){
 355                                                 apogee_time = d.time;
 356                                                 break;
 357                                         }
 358                                 }
 359                         }
 360                         if (apogee_time == AltosLib.MISSING) {
 361                                 new_speed_series = alt_speed_series;
 362                         } else {
 363                                 new_speed_series = make_series(speed_name, AltosConvert.speed);
 364                                 for (AltosTimeValue d : accel_speed_series) {
 365                                         if (d.time <= apogee_time)
 366                                                 new_speed_series.add(d);
 367                                 }
 368                                 for (AltosTimeValue d : alt_speed_series) {
 369                                         if (d.time > apogee_time)
 370                                                 new_speed_series.add(d);
 371                                 }
 372
 373                         }
 374                 } else if (alt_speed_series != null) {
 375                         new_speed_series = alt_speed_series;
 376                 } else if (accel_speed_series != null) {
 377                         new_speed_series = accel_speed_series;
 378                 }
 379                 return new_speed_series;
 380         }
 381
 382         public AltosTimeSeries orient_series;
 383
 384         public static final String orient_name = "Tilt Angle";
 385
 386         private void compute_orient() {
 387
 388                 if (orient_series != null)
 389                         return;
 390
 391                 if (accel_ground_across == AltosLib.MISSING)
 392                         return;
 393
 394                 AltosCalData cal_data = cal_data();
 395
 396                 if (cal_data.pad_orientation == AltosLib.MISSING)
 397                         return;
 398
 399                 if (cal_data.accel_zero_across == AltosLib.MISSING)
 400                         return;
 401
 402                 AltosRotation rotation = new AltosRotation(accel_ground_across,
 403                                                            accel_ground_through,
 404                                                            accel_ground_along,
 405                                                            cal_data.pad_orientation);
 406                 double prev_time = ground_time;
 407
 408                 orient_series = add_series(orient_name, AltosConvert.orient);
 409                 orient_series.add(ground_time, rotation.tilt());
 410
 411                 for (AltosTimeValue roll_v : gyro_roll) {
 412                         double  time = roll_v.time;
 413                         double  dt = time - prev_time;
 414
 415                         if (dt > 0) {
 416                                 double  roll = AltosConvert.degrees_to_radians(roll_v.value) * dt;
 417                                 double  pitch = AltosConvert.degrees_to_radians(gyro_pitch.value(time)) * dt;
 418                                 double  yaw = AltosConvert.degrees_to_radians(gyro_yaw.value(time)) * dt;
 419
 420                                 rotation.rotate(pitch, yaw, roll);
 421                                 orient_series.add(time, rotation.tilt());
 422                         }
 423                         prev_time = time;
 424                 }
 425         }
 426
 427         public AltosTimeSeries  kalman_height_series, kalman_speed_series, kalman_accel_series;
 428
 429         public static final String kalman_height_name = "Kalman Height";
 430         public static final String kalman_speed_name = "Kalman Speed";
 431         public static final String kalman_accel_name = "Kalman Accel";
 432
 433         public void set_kalman(double height, double speed, double acceleration) {
 434                 if (kalman_height_series == null) {
 435                         kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
 436                         kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
 437                         kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
 438                 }
 439                 kalman_height_series.add(time(), height);
 440                 kalman_speed_series.add(time(), speed);
 441                 kalman_accel_series.add(time(), acceleration);
 442         }
 443
 444         public AltosTimeSeries thrust_series;
 445
 446         public static final String thrust_name = "Thrust";
 447
 448         public  void set_thrust(double N) {
 449                 if (thrust_series == null)
 450                         thrust_series = add_series(thrust_name, AltosConvert.force);
 451                 thrust_series.add(time(), N);
 452         }
 453
 454         public AltosTimeSeries temperature_series;
 455
 456         public static final String temperature_name = "Temperature";
 457
 458         public  void set_temperature(double deg_c) {
 459                 if (temperature_series == null)
 460                         temperature_series = add_series(temperature_name, AltosConvert.temperature);
 461                 temperature_series.add(time(), deg_c);
 462         }
 463
 464         public AltosTimeSeries battery_voltage_series;
 465
 466         public static final String battery_voltage_name = "Battery Voltage";
 467
 468         public void set_battery_voltage(double volts) {
 469                 if (volts == AltosLib.MISSING)
 470                         return;
 471                 if (battery_voltage_series == null)
 472                         battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
 473                 battery_voltage_series.add(time(), volts);
 474         }
 475
 476         public AltosTimeSeries apogee_voltage_series;
 477
 478         public static final String apogee_voltage_name = "Apogee Voltage";
 479
 480         public void set_apogee_voltage(double volts) {
 481                 if (volts == AltosLib.MISSING)
 482                         return;
 483                 if (apogee_voltage_series == null)
 484                         apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
 485                 apogee_voltage_series.add(time(), volts);
 486         }
 487
 488         public AltosTimeSeries main_voltage_series;
 489
 490         public static final String main_voltage_name = "Main Voltage";
 491
 492         public void set_main_voltage(double volts) {
 493                 if (volts == AltosLib.MISSING)
 494                         return;
 495                 if (main_voltage_series == null)
 496                         main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
 497                 main_voltage_series.add(time(), volts);
 498         }
 499
 500         public ArrayList<AltosGPSTimeValue> gps_series;
 501
 502         public AltosGPS gps_before(double time) {
 503                 AltosGPSTimeValue nearest = null;
 504                 for (AltosGPSTimeValue gtv : gps_series) {
 505                         if (nearest == null)
 506                                 nearest = gtv;
 507                         else {
 508                                 if (gtv.time <= time) {
 509                                         if (nearest.time <= time && gtv.time > nearest.time)
 510                                                 nearest = gtv;
 511                                 } else {
 512                                         if (nearest.time > time && gtv.time < nearest.time)
 513                                                 nearest = gtv;
 514                                 }
 515                         }
 516                 }
 517                 if (nearest != null)
 518                         return nearest.gps;
 519                 else
 520                         return null;
 521         }
 522
 523         public AltosTimeSeries  sats_in_view;
 524         public AltosTimeSeries sats_in_soln;
 525         public AltosTimeSeries gps_altitude;
 526         public AltosTimeSeries gps_height;
 527         public AltosTimeSeries gps_ground_speed;
 528         public AltosTimeSeries gps_ascent_rate;
 529         public AltosTimeSeries gps_course;
 530         public AltosTimeSeries gps_speed;
 531         public AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
 532
 533         public static final String sats_in_view_name = "Satellites in view";
 534         public static final String sats_in_soln_name = "Satellites in solution";
 535         public static final String gps_altitude_name = "GPS Altitude";
 536         public static final String gps_height_name = "GPS Height";
 537         public static final String gps_ground_speed_name = "GPS Ground Speed";
 538         public static final String gps_ascent_rate_name = "GPS Ascent Rate";
 539         public static final String gps_course_name = "GPS Course";
 540         public static final String gps_speed_name = "GPS Speed";
 541         public static final String gps_pdop_name = "GPS Dilution of Precision";
 542         public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
 543         public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
 544
 545         public void set_gps(AltosGPS gps) {
 546                 super.set_gps(gps);
 547                 if (gps_series == null)
 548                         gps_series = new ArrayList<AltosGPSTimeValue>();
 549                 gps_series.add(new AltosGPSTimeValue(time(), gps));
 550
 551                 if (sats_in_soln == null) {
 552                         sats_in_soln = add_series(sats_in_soln_name, null);
 553                 }
 554                 sats_in_soln.add(time(), gps.nsat);
 555                 if (gps.pdop != AltosLib.MISSING) {
 556                         if (gps_pdop == null)
 557                                 gps_pdop = add_series(gps_pdop_name, null);
 558                         gps_pdop.add(time(), gps.pdop);
 559                 }
 560                 if (gps.hdop != AltosLib.MISSING) {
 561                         if (gps_hdop == null)
 562                                 gps_hdop = add_series(gps_hdop_name, null);
 563                         gps_hdop.add(time(), gps.hdop);
 564                 }
 565                 if (gps.vdop != AltosLib.MISSING) {
 566                         if (gps_vdop == null)
 567                                 gps_vdop = add_series(gps_vdop_name, null);
 568                         gps_vdop.add(time(), gps.vdop);
 569                 }
 570                 if (gps.locked) {
 571                         if (gps.alt != AltosLib.MISSING) {
 572                                 if (gps_altitude == null)
 573                                         gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
 574                                 gps_altitude.add(time(), gps.alt);
 575                         }
 576                         if (gps.ground_speed != AltosLib.MISSING) {
 577                                 if (gps_ground_speed == null)
 578                                         gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
 579                                 gps_ground_speed.add(time(), gps.ground_speed);
 580                         }
 581                         if (gps.climb_rate != AltosLib.MISSING) {
 582                                 if (gps_ascent_rate == null)
 583                                         gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
 584                                 gps_ascent_rate.add(time(), gps.climb_rate);
 585                         }
 586                         if (gps.course != AltosLib.MISSING) {
 587                                 if (gps_course == null)
 588                                         gps_course = add_series(gps_course_name, null);
 589                                 gps_course.add(time(), gps.course);
 590                         }
 591                         if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING) {
 592                                 if (gps_speed == null)
 593                                         gps_speed = add_series(gps_speed_name, null);
 594                                 gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
 595                                                                 gps.climb_rate * gps.climb_rate));
 596                         }
 597                 }
 598                 if (gps.cc_gps_sat != null) {
 599                         if (sats_in_view == null)
 600                                 sats_in_view = add_series(sats_in_view_name, null);
 601                         sats_in_view.add(time(), gps.cc_gps_sat.length);
 602                 }
 603         }
 604
 605         public static final String accel_along_name = "Accel Along";
 606         public static final String accel_across_name = "Accel Across";
 607         public static final String accel_through_name = "Accel Through";
 608
 609         public AltosTimeSeries accel_along, accel_across, accel_through;
 610
 611         public static final String gyro_roll_name = "Roll Rate";
 612         public static final String gyro_pitch_name = "Pitch Rate";
 613         public static final String gyro_yaw_name = "Yaw Rate";
 614
 615         public AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
 616
 617         public static final String mag_along_name = "Magnetic Field Along";
 618         public static final String mag_across_name = "Magnetic Field Across";
 619         public static final String mag_through_name = "Magnetic Field Through";
 620
 621         public AltosTimeSeries mag_along, mag_across, mag_through;
 622
 623         public  void set_accel(double along, double across, double through) {
 624                 if (accel_along == null) {
 625                         accel_along = add_series(accel_along_name, AltosConvert.accel);
 626                         accel_across = add_series(accel_across_name, AltosConvert.accel);
 627                         accel_through = add_series(accel_through_name, AltosConvert.accel);
 628                 }
 629                 accel_along.add(time(), along);
 630                 accel_across.add(time(), across);
 631                 accel_through.add(time(), through);
 632         }
 633
 634         private double  accel_ground_along = AltosLib.MISSING;
 635         private double  accel_ground_across = AltosLib.MISSING;
 636         private double  accel_ground_through = AltosLib.MISSING;
 637
 638         private double          ground_time;
 639
 640         public  void set_accel_ground(double along, double across, double through) {
 641                 accel_ground_along = along;
 642                 accel_ground_across = across;
 643                 accel_ground_through = through;
 644                 ground_time = time();
 645         }
 646
 647         public  void set_gyro(double roll, double pitch, double yaw) {
 648                 if (gyro_roll == null) {
 649                         gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
 650                         gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
 651                         gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
 652                 }
 653                 gyro_roll.add(time(), roll);
 654                 gyro_pitch.add(time(), pitch);
 655                 gyro_yaw.add(time(), yaw);
 656         }
 657
 658         public  void set_mag(double along, double across, double through) {
 659                 if (mag_along == null) {
 660                         mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
 661                         mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
 662                         mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
 663                 }
 664                 mag_along.add(time(), along);
 665                 mag_across.add(time(), across);
 666                 mag_through.add(time(), through);
 667         }
 668
 669         public void set_orient(double orient) {
 670                 if (orient_series == null)
 671                         orient_series = add_series(orient_name, AltosConvert.orient);
 672                 orient_series.add(time(), orient);
 673         }
 674
 675         public static final String pyro_voltage_name = "Pyro Voltage";
 676
 677         public AltosTimeSeries pyro_voltage;
 678
 679         public  void set_pyro_voltage(double volts) {
 680                 if (pyro_voltage == null)
 681                         pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
 682                 pyro_voltage.add(time(), volts);
 683         }
 684
 685         private static String[] igniter_voltage_names;
 686
 687         public String igniter_voltage_name(int channel) {
 688                 if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
 689                         String[] new_igniter_voltage_names = new String[channel + 1];
 690                         int     i = 0;
 691
 692                         if (igniter_voltage_names != null) {
 693                                 for (; i < igniter_voltage_names.length; i++)
 694                                         new_igniter_voltage_names[i] = igniter_voltage_names[i];
 695                         }
 696                         for (; i < channel+1; i++)
 697                                 new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
 698                         igniter_voltage_names = new_igniter_voltage_names;
 699                 }
 700                 return igniter_voltage_names[channel];
 701         }
 702
 703         public AltosTimeSeries[] igniter_voltage;
 704
 705         public  void set_igniter_voltage(double[] voltage) {
 706                 int channels = voltage.length;
 707                 if (igniter_voltage == null || igniter_voltage.length <= channels) {
 708                         AltosTimeSeries[]       new_igniter_voltage = new AltosTimeSeries[channels];
 709                         int                     i = 0;
 710
 711                         if (igniter_voltage != null) {
 712                                 for (; i < igniter_voltage.length; i++)
 713                                         new_igniter_voltage[i] = igniter_voltage[i];
 714                         }
 715                         for (; i < channels; i++)
 716                                 new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
 717                         igniter_voltage = new_igniter_voltage;
 718                 }
 719                 for (int channel = 0; channel < voltage.length; channel++)
 720                         igniter_voltage[channel].add(time(), voltage[channel]);
 721         }
 722
 723         public static final String pyro_fired_name = "Pyro Channel State";
 724
 725         public AltosTimeSeries pyro_fired_series;
 726
 727         int     last_pyro_mask;
 728
 729         public  void set_pyro_fired(int pyro_mask) {
 730                 if (pyro_fired_series == null)
 731                         pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
 732                 for (int channel = 0; channel < 32; channel++) {
 733                         if ((last_pyro_mask & (1 << channel)) == 0 &&
 734                             (pyro_mask & (1 << channel)) != 0) {
 735                                 pyro_fired_series.add(time(), channel);
 736                         }
 737                 }
 738                 last_pyro_mask = pyro_mask;
 739         }
 740
 741         public void set_companion(AltosCompanion companion) {
 742         }
 743
 744         public void finish() {
 745                 compute_orient();
 746                 if (speed_series == null) {
 747                         speed_series = compute_speed();
 748                         if (speed_series != null)
 749                                 add_series(speed_series);
 750                 }
 751                 if (accel_series == null) {
 752                         accel_series = compute_accel();
 753                         if (accel_series != null) {
 754                                 add_series(accel_series);
 755                                 accel_computed = true;
 756                         }
 757                 }
 758                 compute_height();
 759         }
 760
 761         public AltosTimeSeries[] series() {
 762                 finish();
 763                 return series.toArray(new AltosTimeSeries[0]);
 764         }
 765
 766         public AltosFlightSeries(AltosCalData cal_data) {
 767                 super(cal_data);
 768         }
 769 }