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