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_12;
  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                 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)
 154                         return;
 155
 156                 if (state_series == null)
 157                         state_series = add_series(state_name, AltosConvert.state_name);
 158                 else if (this.state == state)
 159                         return;
 160                 this.state = state;
 161                 state_series.add(time(), state);
 162         }
 163
 164         public AltosTimeSeries  accel_series;
 165
 166         public static final String accel_name = "Accel";
 167
 168         public AltosTimeSeries  vert_accel_series;
 169
 170         public static final String vert_accel_name = "Vertical Accel";
 171
 172         public void set_acceleration(double acceleration) {
 173                 if (acceleration == AltosLib.MISSING)
 174                         return;
 175                 if (accel_series == null)
 176                         accel_series = add_series(accel_name, AltosConvert.accel);
 177
 178                 accel_series.add(time(), acceleration);
 179         }
 180
 181         private void compute_accel() {
 182                 if (accel_series != null)
 183                         return;
 184
 185                 if (speed_series != null) {
 186                         AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
 187                         speed_series.filter(temp_series, accel_filter_width);
 188                         accel_series = add_series(accel_name, AltosConvert.accel);
 189                         temp_series.differentiate(accel_series);
 190                 }
 191         }
 192
 193         public void set_received_time(long received_time) {
 194         }
 195
 196         public AltosTimeSeries rssi_series;
 197
 198         public static final String rssi_name = "RSSI";
 199
 200         public AltosTimeSeries status_series;
 201
 202         public static final String status_name = "Radio Status";
 203
 204         public void set_rssi(int rssi, int status) {
 205                 if (rssi_series == null) {
 206                         rssi_series = add_series(rssi_name, null);
 207                         status_series = add_series(status_name, null);
 208                 }
 209                 rssi_series.add(time(), rssi);
 210                 status_series.add(time(), status);
 211         }
 212
 213         public AltosTimeSeries pressure_series;
 214
 215         public static final String pressure_name = "Pressure";
 216
 217         public AltosTimeSeries altitude_series;
 218
 219         public static final String altitude_name = "Altitude";
 220
 221         public AltosTimeSeries height_series;
 222
 223         public static final String height_name = "Height";
 224
 225         public  void set_pressure(double pa) {
 226                 if (pa == AltosLib.MISSING)
 227                         return;
 228
 229                 if (pressure_series == null)
 230                         pressure_series = add_series(pressure_name, AltosConvert.pressure);
 231                 pressure_series.add(time(), pa);
 232                 if (altitude_series == null)
 233                         altitude_series = add_series(altitude_name, AltosConvert.height);
 234
 235                 if (cal_data().ground_pressure == AltosLib.MISSING)
 236                         cal_data().set_ground_pressure(pa);
 237
 238                 double altitude = AltosConvert.pressure_to_altitude(pa);
 239                 altitude_series.add(time(), altitude);
 240         }
 241
 242         private void compute_height() {
 243                 double ground_altitude = cal_data().ground_altitude;
 244                 if (height_series == null && ground_altitude != AltosLib.MISSING && altitude_series != null) {
 245                         height_series = add_series(height_name, AltosConvert.height);
 246                         for (AltosTimeValue alt : altitude_series)
 247                                 height_series.add(alt.time, alt.value - ground_altitude);
 248                 }
 249
 250                 if (gps_height == null && cal_data().gps_pad != null && cal_data().gps_pad.alt != AltosLib.MISSING && gps_altitude != null) {
 251                         double gps_ground_altitude = cal_data().gps_pad.alt;
 252                         gps_height = add_series(gps_height_name, AltosConvert.height);
 253                         for (AltosTimeValue gps_alt : gps_altitude)
 254                                 gps_height.add(gps_alt.time, gps_alt.value - gps_ground_altitude);
 255                 }
 256         }
 257
 258         public AltosTimeSeries speed_series;
 259
 260         public static final String speed_name = "Speed";
 261
 262         private void compute_speed() {
 263                 if (speed_series != null)
 264                         return;
 265
 266                 AltosTimeSeries alt_speed_series = null;
 267                 AltosTimeSeries accel_speed_series = null;
 268
 269                 if (altitude_series != null) {
 270                         AltosTimeSeries temp_series = make_series(altitude_name, AltosConvert.height);
 271                         altitude_series.filter(temp_series, speed_filter_width);
 272
 273                         alt_speed_series = make_series(speed_name, AltosConvert.speed);
 274                         temp_series.differentiate(alt_speed_series);
 275                 }
 276                 if (accel_series != null) {
 277
 278                         if (orient_series != null) {
 279                                 vert_accel_series = add_series(vert_accel_name, AltosConvert.accel);
 280
 281                                 for (AltosTimeValue a : accel_series) {
 282                                         double  orient = orient_series.value(a.time);
 283                                         double  a_abs = a.value + AltosConvert.gravity;
 284                                         double  v_a = a_abs * Math.cos(AltosConvert.degrees_to_radians(orient)) - AltosConvert.gravity;
 285
 286                                         vert_accel_series.add(a.time, v_a);
 287                                 }
 288                         }
 289
 290                         AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
 291
 292                         if (vert_accel_series != null)
 293                                 vert_accel_series.integrate(temp_series);
 294                         else
 295                                 accel_series.integrate(temp_series);
 296
 297                         accel_speed_series = make_series(speed_name, AltosConvert.speed);
 298                         temp_series.filter(accel_speed_series, 0.1);
 299                 }
 300
 301                 if (alt_speed_series != null && accel_speed_series != null) {
 302                         double  apogee_time = AltosLib.MISSING;
 303                         if (state_series != null) {
 304                                 for (AltosTimeValue d : state_series) {
 305                                         if (d.value >= AltosLib.ao_flight_drogue){
 306                                                 apogee_time = d.time;
 307                                                 break;
 308                                         }
 309                                 }
 310                         }
 311                         if (apogee_time == AltosLib.MISSING) {
 312                                 speed_series = alt_speed_series;
 313                         } else {
 314                                 speed_series = make_series(speed_name, AltosConvert.speed);
 315                                 for (AltosTimeValue d : accel_speed_series) {
 316                                         if (d.time <= apogee_time)
 317                                                 speed_series.add(d);
 318                                 }
 319                                 for (AltosTimeValue d : alt_speed_series) {
 320                                         if (d.time > apogee_time)
 321                                                 speed_series.add(d);
 322                                 }
 323
 324                         }
 325                 } else if (alt_speed_series != null) {
 326                         speed_series = alt_speed_series;
 327                 } else if (accel_speed_series != null) {
 328                         speed_series = accel_speed_series;
 329                 }
 330                 if (speed_series != null)
 331                         add_series(speed_series);
 332         }
 333
 334         public AltosTimeSeries orient_series;
 335
 336         public static final String orient_name = "Tilt Angle";
 337
 338         private void compute_orient() {
 339
 340                 if (orient_series != null)
 341                         return;
 342
 343                 if (accel_ground_across == AltosLib.MISSING)
 344                         return;
 345
 346                 if (cal_data().pad_orientation == AltosLib.MISSING)
 347                         return;
 348
 349                 if (cal_data().accel_zero_across == AltosLib.MISSING)
 350                         return;
 351
 352                 AltosRotation rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data().accel_zero_across),
 353                                                            AltosIMU.convert_accel(accel_ground_through - cal_data().accel_zero_through),
 354                                                            AltosIMU.convert_accel(accel_ground_along - cal_data().accel_zero_along),
 355                                                            cal_data().pad_orientation);
 356                 double prev_time = ground_time;
 357
 358                 orient_series = add_series(orient_name, AltosConvert.orient);
 359                 orient_series.add(ground_time, rotation.tilt());
 360
 361                 for (AltosTimeValue roll_v : gyro_roll) {
 362                         double  time = roll_v.time;
 363                         double  dt = time - prev_time;
 364
 365                         if (dt > 0) {
 366                                 double  roll = AltosConvert.degrees_to_radians(roll_v.value) * dt;
 367                                 double  pitch = AltosConvert.degrees_to_radians(gyro_pitch.value(time)) * dt;
 368                                 double  yaw = AltosConvert.degrees_to_radians(gyro_yaw.value(time)) * dt;
 369
 370                                 rotation.rotate(pitch, yaw, roll);
 371                                 orient_series.add(time, rotation.tilt());
 372                         }
 373                         prev_time = time;
 374                 }
 375         }
 376
 377         public AltosTimeSeries  kalman_height_series, kalman_speed_series, kalman_accel_series;
 378
 379         public static final String kalman_height_name = "Kalman Height";
 380         public static final String kalman_speed_name = "Kalman Speed";
 381         public static final String kalman_accel_name = "Kalman Accel";
 382
 383         public void set_kalman(double height, double speed, double acceleration) {
 384                 if (kalman_height_series == null) {
 385                         kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
 386                         kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
 387                         kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
 388                 }
 389                 kalman_height_series.add(time(), height);
 390                 kalman_speed_series.add(time(), speed);
 391                 kalman_accel_series.add(time(), acceleration);
 392         }
 393
 394         public AltosTimeSeries thrust_series;
 395
 396         public static final String thrust_name = "Thrust";
 397
 398         public  void set_thrust(double N) {
 399                 if (thrust_series == null)
 400                         thrust_series = add_series(thrust_name, AltosConvert.force);
 401                 thrust_series.add(time(), N);
 402         }
 403
 404         public AltosTimeSeries temperature_series;
 405
 406         public static final String temperature_name = "Temperature";
 407
 408         public  void set_temperature(double deg_c) {
 409                 if (temperature_series == null)
 410                         temperature_series = add_series(temperature_name, AltosConvert.temperature);
 411                 temperature_series.add(time(), deg_c);
 412         }
 413
 414         public AltosTimeSeries battery_voltage_series;
 415
 416         public static final String battery_voltage_name = "Battery Voltage";
 417
 418         public void set_battery_voltage(double volts) {
 419                 if (volts == AltosLib.MISSING)
 420                         return;
 421                 if (battery_voltage_series == null)
 422                         battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
 423                 battery_voltage_series.add(time(), volts);
 424         }
 425
 426         public AltosTimeSeries apogee_voltage_series;
 427
 428         public static final String apogee_voltage_name = "Apogee Voltage";
 429
 430         public void set_apogee_voltage(double volts) {
 431                 if (volts == AltosLib.MISSING)
 432                         return;
 433                 if (apogee_voltage_series == null)
 434                         apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
 435                 apogee_voltage_series.add(time(), volts);
 436         }
 437
 438         public AltosTimeSeries main_voltage_series;
 439
 440         public static final String main_voltage_name = "Main Voltage";
 441
 442         public void set_main_voltage(double volts) {
 443                 if (volts == AltosLib.MISSING)
 444                         return;
 445                 if (main_voltage_series == null)
 446                         main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
 447                 main_voltage_series.add(time(), volts);
 448         }
 449
 450         public ArrayList<AltosGPSTimeValue> gps_series;
 451
 452         public AltosGPS gps_before(double time) {
 453                 AltosGPS gps = null;
 454                 for (AltosGPSTimeValue gtv : gps_series)
 455                         if (gtv.time <= time)
 456                                 gps = gtv.gps;
 457                         else
 458                                 break;
 459                 return gps;
 460         }
 461
 462         public AltosTimeSeries  sats_in_view;
 463         public AltosTimeSeries sats_in_soln;
 464         public AltosTimeSeries gps_altitude;
 465         public AltosTimeSeries gps_height;
 466         public AltosTimeSeries gps_ground_speed;
 467         public AltosTimeSeries gps_ascent_rate;
 468         public AltosTimeSeries gps_course;
 469         public AltosTimeSeries gps_speed;
 470         public AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
 471
 472         public static final String sats_in_view_name = "Satellites in view";
 473         public static final String sats_in_soln_name = "Satellites in solution";
 474         public static final String gps_altitude_name = "GPS Altitude";
 475         public static final String gps_height_name = "GPS Height";
 476         public static final String gps_ground_speed_name = "GPS Ground Speed";
 477         public static final String gps_ascent_rate_name = "GPS Ascent Rate";
 478         public static final String gps_course_name = "GPS Course";
 479         public static final String gps_speed_name = "GPS Speed";
 480         public static final String gps_pdop_name = "GPS Dilution of Precision";
 481         public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
 482         public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
 483
 484         public void set_gps(AltosGPS gps) {
 485                 if (gps_series == null)
 486                         gps_series = new ArrayList<AltosGPSTimeValue>();
 487                 gps_series.add(new AltosGPSTimeValue(time(), gps));
 488
 489                 if (sats_in_soln == null) {
 490                         sats_in_soln = add_series(sats_in_soln_name, null);
 491                 }
 492                 sats_in_soln.add(time(), gps.nsat);
 493                 if (gps.pdop != AltosLib.MISSING) {
 494                         if (gps_pdop == null)
 495                                 gps_pdop = add_series(gps_pdop_name, null);
 496                         gps_pdop.add(time(), gps.pdop);
 497                 }
 498                 if (gps.hdop != AltosLib.MISSING) {
 499                         if (gps_hdop == null)
 500                                 gps_hdop = add_series(gps_hdop_name, null);
 501                         gps_hdop.add(time(), gps.hdop);
 502                 }
 503                 if (gps.vdop != AltosLib.MISSING) {
 504                         if (gps_vdop == null)
 505                                 gps_vdop = add_series(gps_vdop_name, null);
 506                         gps_vdop.add(time(), gps.vdop);
 507                 }
 508                 if (gps.locked) {
 509                         if (gps.alt != AltosLib.MISSING) {
 510                                 if (gps_altitude == null)
 511                                         gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
 512                                 gps_altitude.add(time(), gps.alt);
 513                         }
 514                         if (gps.ground_speed != AltosLib.MISSING) {
 515                                 if (gps_ground_speed == null)
 516                                         gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
 517                                 gps_ground_speed.add(time(), gps.ground_speed);
 518                         }
 519                         if (gps.climb_rate != AltosLib.MISSING) {
 520                                 if (gps_ascent_rate == null)
 521                                         gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
 522                                 gps_ascent_rate.add(time(), gps.climb_rate);
 523                         }
 524                         if (gps.course != AltosLib.MISSING) {
 525                                 if (gps_course == null)
 526                                         gps_course = add_series(gps_course_name, null);
 527                                 gps_course.add(time(), gps.course);
 528                         }
 529                         if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING) {
 530                                 if (gps_speed == null)
 531                                         gps_speed = add_series(gps_speed_name, null);
 532                                 gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
 533                                                                 gps.climb_rate * gps.climb_rate));
 534                         }
 535                 }
 536                 if (gps.cc_gps_sat != null) {
 537                         if (sats_in_view == null)
 538                                 sats_in_view = add_series(sats_in_view_name, null);
 539                         sats_in_view.add(time(), gps.cc_gps_sat.length);
 540                 }
 541         }
 542
 543         public static final String accel_along_name = "Accel Along";
 544         public static final String accel_across_name = "Accel Across";
 545         public static final String accel_through_name = "Accel Through";
 546
 547         public AltosTimeSeries accel_along, accel_across, accel_through;
 548
 549         public static final String gyro_roll_name = "Roll Rate";
 550         public static final String gyro_pitch_name = "Pitch Rate";
 551         public static final String gyro_yaw_name = "Yaw Rate";
 552
 553         public AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
 554
 555         public static final String mag_along_name = "Magnetic Field Along";
 556         public static final String mag_across_name = "Magnetic Field Across";
 557         public static final String mag_through_name = "Magnetic Field Through";
 558
 559         public AltosTimeSeries mag_along, mag_across, mag_through;
 560
 561         public  void set_accel(double along, double across, double through) {
 562                 if (accel_along == null) {
 563                         accel_along = add_series(accel_along_name, AltosConvert.accel);
 564                         accel_across = add_series(accel_across_name, AltosConvert.accel);
 565                         accel_through = add_series(accel_through_name, AltosConvert.accel);
 566                 }
 567                 accel_along.add(time(), along);
 568                 accel_across.add(time(), across);
 569                 accel_through.add(time(), through);
 570         }
 571
 572         private double  accel_ground_along = AltosLib.MISSING;
 573         private double  accel_ground_across = AltosLib.MISSING;
 574         private double  accel_ground_through = AltosLib.MISSING;
 575
 576         private double          ground_time;
 577
 578         public  void set_accel_ground(double along, double across, double through) {
 579                 accel_ground_along = along;
 580                 accel_ground_across = across;
 581                 accel_ground_through = through;
 582                 ground_time = time();
 583         }
 584
 585         public  void set_gyro(double roll, double pitch, double yaw) {
 586                 if (gyro_roll == null) {
 587                         gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
 588                         gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
 589                         gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
 590                 }
 591                 gyro_roll.add(time(), roll);
 592                 gyro_pitch.add(time(), pitch);
 593                 gyro_yaw.add(time(), yaw);
 594         }
 595
 596         public  void set_mag(double along, double across, double through) {
 597                 if (mag_along == null) {
 598                         mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
 599                         mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
 600                         mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
 601                 }
 602                 mag_along.add(time(), along);
 603                 mag_across.add(time(), across);
 604                 mag_through.add(time(), through);
 605         }
 606
 607         public void set_orient(double orient) {
 608                 if (orient_series == null)
 609                         orient_series = add_series(orient_name, AltosConvert.orient);
 610                 orient_series.add(time(), orient);
 611         }
 612
 613         public static final String pyro_voltage_name = "Pyro Voltage";
 614
 615         public AltosTimeSeries pyro_voltage;
 616
 617         public  void set_pyro_voltage(double volts) {
 618                 if (pyro_voltage == null)
 619                         pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
 620                 pyro_voltage.add(time(), volts);
 621         }
 622
 623         private static String[] igniter_voltage_names;
 624
 625         public String igniter_voltage_name(int channel) {
 626                 if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
 627                         String[] new_igniter_voltage_names = new String[channel + 1];
 628                         int     i = 0;
 629
 630                         if (igniter_voltage_names != null) {
 631                                 for (; i < igniter_voltage_names.length; i++)
 632                                         new_igniter_voltage_names[i] = igniter_voltage_names[i];
 633                         }
 634                         for (; i < channel+1; i++)
 635                                 new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
 636                         igniter_voltage_names = new_igniter_voltage_names;
 637                 }
 638                 return igniter_voltage_names[channel];
 639         }
 640
 641         public AltosTimeSeries[] igniter_voltage;
 642
 643         public  void set_igniter_voltage(double[] voltage) {
 644                 int channels = voltage.length;
 645                 if (igniter_voltage == null || igniter_voltage.length <= channels) {
 646                         AltosTimeSeries[]       new_igniter_voltage = new AltosTimeSeries[channels + 1];
 647                         int                     i = 0;
 648
 649                         if (igniter_voltage != null) {
 650                                 for (; i < igniter_voltage.length; i++)
 651                                         new_igniter_voltage[i] = igniter_voltage[i];
 652                         }
 653                         for (; i < channels; i++)
 654                                 new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
 655                         igniter_voltage = new_igniter_voltage;
 656                 }
 657                 for (int channel = 0; channel < voltage.length; channel++)
 658                         igniter_voltage[channel].add(time(), voltage[channel]);
 659         }
 660
 661         public static final String pyro_fired_name = "Pyro Channel State";
 662
 663         public AltosTimeSeries pyro_fired_series;
 664
 665         int     last_pyro_mask;
 666
 667         public  void set_pyro_fired(int pyro_mask) {
 668                 if (pyro_fired_series == null)
 669                         pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
 670                 for (int channel = 0; channel < 32; channel++) {
 671                         if ((last_pyro_mask & (1 << channel)) == 0 &&
 672                             (pyro_mask & (1 << channel)) != 0) {
 673                                 pyro_fired_series.add(time(), channel);
 674                         }
 675                 }
 676                 last_pyro_mask = pyro_mask;
 677         }
 678
 679         public void set_companion(AltosCompanion companion) {
 680         }
 681
 682         public void finish() {
 683                 compute_orient();
 684                 compute_speed();
 685                 compute_accel();
 686                 compute_height();
 687         }
 688
 689         public AltosTimeSeries[] series() {
 690                 finish();
 691                 return series.toArray(new AltosTimeSeries[0]);
 692         }
 693
 694         public AltosFlightSeries(AltosCalData cal_data) {
 695                 super(cal_data);
 696         }
 697 }