2 * Copyright © 2017 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation, either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
15 package org.altusmetrum.altoslib_12;
19 public class AltosFlightSeries extends AltosDataListener {
21 public ArrayList<AltosTimeSeries> series = new ArrayList<AltosTimeSeries>();
23 public double speed_filter_width = 4.0;
24 public double accel_filter_width = 4.0;
26 public int[] indices() {
27 int[] indices = new int[series.size()];
28 for (int i = 0; i < indices.length; i++)
30 step_indices(indices);
34 private double time(int id, int index) {
35 AltosTimeSeries s = series.get(id);
38 return Double.NEGATIVE_INFINITY;
40 if (index < s.values.size())
41 return s.values.get(index).time;
42 return Double.POSITIVE_INFINITY;
45 public boolean step_indices(int[] indices) {
46 double min_next = time(0, indices[0]+1);
48 for (int i = 1; i < indices.length; i++) {
49 double next = time(i, indices[i]+1);
54 if (min_next == Double.POSITIVE_INFINITY)
57 for (int i = 0; i < indices.length; i++) {
58 double t = time(i, indices[i] + 1);
66 public double time(int[] indices) {
67 double max = time(0, indices[0]);
69 for (int i = 1; i < indices.length; i++) {
70 double t = time(i, indices[i]);
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];
84 if (index >= s.values.size())
85 index = s.values.size() - 1;
86 return s.values.get(index).value;
89 return AltosLib.MISSING;
92 public double value(String name, double time) {
93 for (AltosTimeSeries s : series) {
94 if (s.label.equals(name))
97 return AltosLib.MISSING;
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);
105 return AltosLib.MISSING;
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);
113 return AltosLib.MISSING;
116 public AltosTimeSeries make_series(String label, AltosUnits units) {
117 return new AltosTimeSeries(label, units);
120 public void add_series(AltosTimeSeries s) {
121 for (int e = 0; e < series.size(); e++) {
122 if (s.compareTo(series.get(e)) < 0){
130 public AltosTimeSeries add_series(String label, AltosUnits units) {
131 AltosTimeSeries s = make_series(label, units);
136 public void remove_series(AltosTimeSeries s) {
140 public boolean has_series(String label) {
141 for (AltosTimeSeries s : series)
142 if (s.label.equals(label))
147 public AltosTimeSeries state_series;
149 public static final String state_name = "State";
151 public void set_state(int state) {
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);
159 super.set_state(state);
162 public AltosTimeSeries accel_series;
164 public static final String accel_name = "Accel";
166 public AltosTimeSeries vert_accel_series;
168 public static final String vert_accel_name = "Vertical Accel";
170 public void set_acceleration(double acceleration) {
171 if (acceleration == AltosLib.MISSING)
173 if (accel_series == null)
174 accel_series = add_series(accel_name, AltosConvert.accel);
176 accel_series.add(time(), acceleration);
179 private void compute_accel() {
180 if (accel_series != null)
183 if (speed_series != null) {
184 AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
185 speed_series.filter(temp_series, accel_filter_width);
186 accel_series = add_series(accel_name, AltosConvert.accel);
187 temp_series.differentiate(accel_series);
191 public void set_received_time(long received_time) {
194 public AltosTimeSeries tick_series;
196 public static final String tick_name = "Tick";
198 public void set_tick(int tick) {
199 super.set_tick(tick);
200 if (tick_series == null)
201 tick_series = add_series(tick_name, null);
202 tick_series.add(time(), tick);
205 public AltosTimeSeries rssi_series;
207 public static final String rssi_name = "RSSI";
209 public AltosTimeSeries status_series;
211 public static final String status_name = "Radio Status";
213 public void set_rssi(int rssi, int status) {
214 if (rssi_series == null) {
215 rssi_series = add_series(rssi_name, null);
216 status_series = add_series(status_name, null);
218 rssi_series.add(time(), rssi);
219 status_series.add(time(), status);
222 public AltosTimeSeries pressure_series;
224 public static final String pressure_name = "Pressure";
226 public AltosTimeSeries altitude_series;
228 public static final String altitude_name = "Altitude";
230 public AltosTimeSeries height_series;
232 public static final String height_name = "Height";
234 public void set_pressure(double pa) {
235 if (pa == AltosLib.MISSING)
238 if (pressure_series == null)
239 pressure_series = add_series(pressure_name, AltosConvert.pressure);
240 pressure_series.add(time(), pa);
241 if (altitude_series == null)
242 altitude_series = add_series(altitude_name, AltosConvert.height);
244 if (cal_data().ground_pressure == AltosLib.MISSING)
245 cal_data().set_ground_pressure(pa);
247 double altitude = AltosConvert.pressure_to_altitude(pa);
248 altitude_series.add(time(), altitude);
251 private void compute_height() {
252 double ground_altitude = cal_data().ground_altitude;
253 if (height_series == null && ground_altitude != AltosLib.MISSING && altitude_series != null) {
254 height_series = add_series(height_name, AltosConvert.height);
255 for (AltosTimeValue alt : altitude_series)
256 height_series.add(alt.time, alt.value - ground_altitude);
259 if (gps_height == null && cal_data().gps_pad != null && cal_data().gps_pad.alt != AltosLib.MISSING && gps_altitude != null) {
260 double gps_ground_altitude = cal_data().gps_pad.alt;
261 gps_height = add_series(gps_height_name, AltosConvert.height);
262 for (AltosTimeValue gps_alt : gps_altitude)
263 gps_height.add(gps_alt.time, gps_alt.value - gps_ground_altitude);
267 public AltosTimeSeries speed_series;
269 public static final String speed_name = "Speed";
271 private void compute_speed() {
272 if (speed_series != null)
275 AltosTimeSeries alt_speed_series = null;
276 AltosTimeSeries accel_speed_series = null;
278 if (altitude_series != null) {
279 AltosTimeSeries temp_series = make_series(altitude_name, AltosConvert.height);
280 altitude_series.filter(temp_series, speed_filter_width);
282 alt_speed_series = make_series(speed_name, AltosConvert.speed);
283 temp_series.differentiate(alt_speed_series);
285 if (accel_series != null) {
287 if (orient_series != null) {
288 vert_accel_series = add_series(vert_accel_name, AltosConvert.accel);
290 for (AltosTimeValue a : accel_series) {
291 double orient = orient_series.value(a.time);
292 double a_abs = a.value + AltosConvert.gravity;
293 double v_a = a_abs * Math.cos(AltosConvert.degrees_to_radians(orient)) - AltosConvert.gravity;
295 vert_accel_series.add(a.time, v_a);
299 AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
301 if (vert_accel_series != null)
302 vert_accel_series.integrate(temp_series);
304 accel_series.integrate(temp_series);
306 accel_speed_series = make_series(speed_name, AltosConvert.speed);
307 temp_series.filter(accel_speed_series, 0.1);
310 if (alt_speed_series != null && accel_speed_series != null) {
311 double apogee_time = AltosLib.MISSING;
312 if (state_series != null) {
313 for (AltosTimeValue d : state_series) {
314 if (d.value >= AltosLib.ao_flight_drogue){
315 apogee_time = d.time;
320 if (apogee_time == AltosLib.MISSING) {
321 speed_series = alt_speed_series;
323 speed_series = make_series(speed_name, AltosConvert.speed);
324 for (AltosTimeValue d : accel_speed_series) {
325 if (d.time <= apogee_time)
328 for (AltosTimeValue d : alt_speed_series) {
329 if (d.time > apogee_time)
334 } else if (alt_speed_series != null) {
335 speed_series = alt_speed_series;
336 } else if (accel_speed_series != null) {
337 speed_series = accel_speed_series;
339 if (speed_series != null)
340 add_series(speed_series);
343 public AltosTimeSeries orient_series;
345 public static final String orient_name = "Tilt Angle";
347 private void compute_orient() {
349 if (orient_series != null)
352 if (accel_ground_across == AltosLib.MISSING)
355 if (cal_data().pad_orientation == AltosLib.MISSING)
358 if (cal_data().accel_zero_across == AltosLib.MISSING)
361 AltosRotation rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data().accel_zero_across),
362 AltosIMU.convert_accel(accel_ground_through - cal_data().accel_zero_through),
363 AltosIMU.convert_accel(accel_ground_along - cal_data().accel_zero_along),
364 cal_data().pad_orientation);
365 double prev_time = ground_time;
367 orient_series = add_series(orient_name, AltosConvert.orient);
368 orient_series.add(ground_time, rotation.tilt());
370 for (AltosTimeValue roll_v : gyro_roll) {
371 double time = roll_v.time;
372 double dt = time - prev_time;
375 double roll = AltosConvert.degrees_to_radians(roll_v.value) * dt;
376 double pitch = AltosConvert.degrees_to_radians(gyro_pitch.value(time)) * dt;
377 double yaw = AltosConvert.degrees_to_radians(gyro_yaw.value(time)) * dt;
379 rotation.rotate(pitch, yaw, roll);
380 orient_series.add(time, rotation.tilt());
386 public AltosTimeSeries kalman_height_series, kalman_speed_series, kalman_accel_series;
388 public static final String kalman_height_name = "Kalman Height";
389 public static final String kalman_speed_name = "Kalman Speed";
390 public static final String kalman_accel_name = "Kalman Accel";
392 public void set_kalman(double height, double speed, double acceleration) {
393 if (kalman_height_series == null) {
394 kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
395 kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
396 kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
398 kalman_height_series.add(time(), height);
399 kalman_speed_series.add(time(), speed);
400 kalman_accel_series.add(time(), acceleration);
403 public AltosTimeSeries thrust_series;
405 public static final String thrust_name = "Thrust";
407 public void set_thrust(double N) {
408 if (thrust_series == null)
409 thrust_series = add_series(thrust_name, AltosConvert.force);
410 thrust_series.add(time(), N);
413 public AltosTimeSeries temperature_series;
415 public static final String temperature_name = "Temperature";
417 public void set_temperature(double deg_c) {
418 if (temperature_series == null)
419 temperature_series = add_series(temperature_name, AltosConvert.temperature);
420 temperature_series.add(time(), deg_c);
423 public AltosTimeSeries battery_voltage_series;
425 public static final String battery_voltage_name = "Battery Voltage";
427 public void set_battery_voltage(double volts) {
428 if (volts == AltosLib.MISSING)
430 if (battery_voltage_series == null)
431 battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
432 battery_voltage_series.add(time(), volts);
435 public AltosTimeSeries apogee_voltage_series;
437 public static final String apogee_voltage_name = "Apogee Voltage";
439 public void set_apogee_voltage(double volts) {
440 if (volts == AltosLib.MISSING)
442 if (apogee_voltage_series == null)
443 apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
444 apogee_voltage_series.add(time(), volts);
447 public AltosTimeSeries main_voltage_series;
449 public static final String main_voltage_name = "Main Voltage";
451 public void set_main_voltage(double volts) {
452 if (volts == AltosLib.MISSING)
454 if (main_voltage_series == null)
455 main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
456 main_voltage_series.add(time(), volts);
459 public ArrayList<AltosGPSTimeValue> gps_series;
461 public AltosGPS gps_before(double time) {
463 for (AltosGPSTimeValue gtv : gps_series)
464 if (gtv.time <= time)
471 public AltosTimeSeries sats_in_view;
472 public AltosTimeSeries sats_in_soln;
473 public AltosTimeSeries gps_altitude;
474 public AltosTimeSeries gps_height;
475 public AltosTimeSeries gps_ground_speed;
476 public AltosTimeSeries gps_ascent_rate;
477 public AltosTimeSeries gps_course;
478 public AltosTimeSeries gps_speed;
479 public AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
481 public static final String sats_in_view_name = "Satellites in view";
482 public static final String sats_in_soln_name = "Satellites in solution";
483 public static final String gps_altitude_name = "GPS Altitude";
484 public static final String gps_height_name = "GPS Height";
485 public static final String gps_ground_speed_name = "GPS Ground Speed";
486 public static final String gps_ascent_rate_name = "GPS Ascent Rate";
487 public static final String gps_course_name = "GPS Course";
488 public static final String gps_speed_name = "GPS Speed";
489 public static final String gps_pdop_name = "GPS Dilution of Precision";
490 public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
491 public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
493 public void set_gps(AltosGPS gps) {
494 if (gps_series == null)
495 gps_series = new ArrayList<AltosGPSTimeValue>();
496 gps_series.add(new AltosGPSTimeValue(time(), gps));
498 if (sats_in_soln == null) {
499 sats_in_soln = add_series(sats_in_soln_name, null);
501 sats_in_soln.add(time(), gps.nsat);
502 if (gps.pdop != AltosLib.MISSING) {
503 if (gps_pdop == null)
504 gps_pdop = add_series(gps_pdop_name, null);
505 gps_pdop.add(time(), gps.pdop);
507 if (gps.hdop != AltosLib.MISSING) {
508 if (gps_hdop == null)
509 gps_hdop = add_series(gps_hdop_name, null);
510 gps_hdop.add(time(), gps.hdop);
512 if (gps.vdop != AltosLib.MISSING) {
513 if (gps_vdop == null)
514 gps_vdop = add_series(gps_vdop_name, null);
515 gps_vdop.add(time(), gps.vdop);
518 if (gps.alt != AltosLib.MISSING) {
519 if (gps_altitude == null)
520 gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
521 gps_altitude.add(time(), gps.alt);
523 if (gps.ground_speed != AltosLib.MISSING) {
524 if (gps_ground_speed == null)
525 gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
526 gps_ground_speed.add(time(), gps.ground_speed);
528 if (gps.climb_rate != AltosLib.MISSING) {
529 if (gps_ascent_rate == null)
530 gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
531 gps_ascent_rate.add(time(), gps.climb_rate);
533 if (gps.course != AltosLib.MISSING) {
534 if (gps_course == null)
535 gps_course = add_series(gps_course_name, null);
536 gps_course.add(time(), gps.course);
538 if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING) {
539 if (gps_speed == null)
540 gps_speed = add_series(gps_speed_name, null);
541 gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
542 gps.climb_rate * gps.climb_rate));
545 if (gps.cc_gps_sat != null) {
546 if (sats_in_view == null)
547 sats_in_view = add_series(sats_in_view_name, null);
548 sats_in_view.add(time(), gps.cc_gps_sat.length);
552 public static final String accel_along_name = "Accel Along";
553 public static final String accel_across_name = "Accel Across";
554 public static final String accel_through_name = "Accel Through";
556 public AltosTimeSeries accel_along, accel_across, accel_through;
558 public static final String gyro_roll_name = "Roll Rate";
559 public static final String gyro_pitch_name = "Pitch Rate";
560 public static final String gyro_yaw_name = "Yaw Rate";
562 public AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
564 public static final String mag_along_name = "Magnetic Field Along";
565 public static final String mag_across_name = "Magnetic Field Across";
566 public static final String mag_through_name = "Magnetic Field Through";
568 public AltosTimeSeries mag_along, mag_across, mag_through;
570 public void set_accel(double along, double across, double through) {
571 if (accel_along == null) {
572 accel_along = add_series(accel_along_name, AltosConvert.accel);
573 accel_across = add_series(accel_across_name, AltosConvert.accel);
574 accel_through = add_series(accel_through_name, AltosConvert.accel);
576 accel_along.add(time(), along);
577 accel_across.add(time(), across);
578 accel_through.add(time(), through);
581 private double accel_ground_along = AltosLib.MISSING;
582 private double accel_ground_across = AltosLib.MISSING;
583 private double accel_ground_through = AltosLib.MISSING;
585 private double ground_time;
587 public void set_accel_ground(double along, double across, double through) {
588 accel_ground_along = along;
589 accel_ground_across = across;
590 accel_ground_through = through;
591 ground_time = time();
594 public void set_gyro(double roll, double pitch, double yaw) {
595 if (gyro_roll == null) {
596 gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
597 gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
598 gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
600 gyro_roll.add(time(), roll);
601 gyro_pitch.add(time(), pitch);
602 gyro_yaw.add(time(), yaw);
605 public void set_mag(double along, double across, double through) {
606 if (mag_along == null) {
607 mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
608 mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
609 mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
611 mag_along.add(time(), along);
612 mag_across.add(time(), across);
613 mag_through.add(time(), through);
616 public void set_orient(double orient) {
617 if (orient_series == null)
618 orient_series = add_series(orient_name, AltosConvert.orient);
619 orient_series.add(time(), orient);
622 public static final String pyro_voltage_name = "Pyro Voltage";
624 public AltosTimeSeries pyro_voltage;
626 public void set_pyro_voltage(double volts) {
627 if (pyro_voltage == null)
628 pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
629 pyro_voltage.add(time(), volts);
632 private static String[] igniter_voltage_names;
634 public String igniter_voltage_name(int channel) {
635 if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
636 String[] new_igniter_voltage_names = new String[channel + 1];
639 if (igniter_voltage_names != null) {
640 for (; i < igniter_voltage_names.length; i++)
641 new_igniter_voltage_names[i] = igniter_voltage_names[i];
643 for (; i < channel+1; i++)
644 new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
645 igniter_voltage_names = new_igniter_voltage_names;
647 return igniter_voltage_names[channel];
650 public AltosTimeSeries[] igniter_voltage;
652 public void set_igniter_voltage(double[] voltage) {
653 int channels = voltage.length;
654 if (igniter_voltage == null || igniter_voltage.length <= channels) {
655 AltosTimeSeries[] new_igniter_voltage = new AltosTimeSeries[channels];
658 if (igniter_voltage != null) {
659 for (; i < igniter_voltage.length; i++)
660 new_igniter_voltage[i] = igniter_voltage[i];
662 for (; i < channels; i++)
663 new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
664 igniter_voltage = new_igniter_voltage;
666 for (int channel = 0; channel < voltage.length; channel++)
667 igniter_voltage[channel].add(time(), voltage[channel]);
670 public static final String pyro_fired_name = "Pyro Channel State";
672 public AltosTimeSeries pyro_fired_series;
676 public void set_pyro_fired(int pyro_mask) {
677 if (pyro_fired_series == null)
678 pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
679 for (int channel = 0; channel < 32; channel++) {
680 if ((last_pyro_mask & (1 << channel)) == 0 &&
681 (pyro_mask & (1 << channel)) != 0) {
682 pyro_fired_series.add(time(), channel);
685 last_pyro_mask = pyro_mask;
688 public void set_companion(AltosCompanion companion) {
691 public void finish() {
698 public AltosTimeSeries[] series() {
700 return series.toArray(new AltosTimeSeries[0]);
703 public AltosFlightSeries(AltosCalData cal_data) {