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 && 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
 164         public static final String accel_name = "Accel";
 165
 166         public AltosTimeSeries  vert_accel_series;
 167
 168         public static final String vert_accel_name = "Vertical Accel";
 169
 170         public void set_acceleration(double acceleration) {
 171                 if (acceleration == AltosLib.MISSING)
 172                         return;
 173                 if (accel_series == null)
 174                         accel_series = add_series(accel_name, AltosConvert.accel);
 175
 176                 accel_series.add(time(), acceleration);
 177         }
 178
 179         private void compute_accel() {
 180                 if (accel_series != null)
 181                         return;
 182
 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);
 188                 }
 189         }
 190
 191         public void set_received_time(long received_time) {
 192         }
 193
 194         public AltosTimeSeries tick_series;
 195
 196         public static final String tick_name = "Tick";
 197
 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);
 203         }
 204
 205         public AltosTimeSeries rssi_series;
 206
 207         public static final String rssi_name = "RSSI";
 208
 209         public AltosTimeSeries status_series;
 210
 211         public static final String status_name = "Radio Status";
 212
 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);
 217                 }
 218                 rssi_series.add(time(), rssi);
 219                 status_series.add(time(), status);
 220         }
 221
 222         public AltosTimeSeries pressure_series;
 223
 224         public static final String pressure_name = "Pressure";
 225
 226         public AltosTimeSeries altitude_series;
 227
 228         public static final String altitude_name = "Altitude";
 229
 230         public AltosTimeSeries height_series;
 231
 232         public static final String height_name = "Height";
 233
 234         public  void set_pressure(double pa) {
 235                 if (pa == AltosLib.MISSING)
 236                         return;
 237
 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);
 243
 244                 if (cal_data().ground_pressure == AltosLib.MISSING)
 245                         cal_data().set_ground_pressure(pa);
 246
 247                 double altitude = AltosConvert.pressure_to_altitude(pa);
 248                 altitude_series.add(time(), altitude);
 249         }
 250
 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);
 257                 }
 258
 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);
 264                 }
 265         }
 266
 267         public AltosTimeSeries speed_series;
 268
 269         public static final String speed_name = "Speed";
 270
 271         private void compute_speed() {
 272                 if (speed_series != null)
 273                         return;
 274
 275                 AltosTimeSeries alt_speed_series = null;
 276                 AltosTimeSeries accel_speed_series = null;
 277
 278                 if (altitude_series != null) {
 279                         AltosTimeSeries temp_series = make_series(altitude_name, AltosConvert.height);
 280                         altitude_series.filter(temp_series, speed_filter_width);
 281
 282                         alt_speed_series = make_series(speed_name, AltosConvert.speed);
 283                         temp_series.differentiate(alt_speed_series);
 284                 }
 285                 if (accel_series != null) {
 286
 287                         if (orient_series != null) {
 288                                 vert_accel_series = add_series(vert_accel_name, AltosConvert.accel);
 289
 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;
 294
 295                                         vert_accel_series.add(a.time, v_a);
 296                                 }
 297                         }
 298
 299                         AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
 300
 301                         if (vert_accel_series != null)
 302                                 vert_accel_series.integrate(temp_series);
 303                         else
 304                                 accel_series.integrate(temp_series);
 305
 306                         accel_speed_series = make_series(speed_name, AltosConvert.speed);
 307                         temp_series.filter(accel_speed_series, 0.1);
 308                 }
 309
 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;
 316                                                 break;
 317                                         }
 318                                 }
 319                         }
 320                         if (apogee_time == AltosLib.MISSING) {
 321                                 speed_series = alt_speed_series;
 322                         } else {
 323                                 speed_series = make_series(speed_name, AltosConvert.speed);
 324                                 for (AltosTimeValue d : accel_speed_series) {
 325                                         if (d.time <= apogee_time)
 326                                                 speed_series.add(d);
 327                                 }
 328                                 for (AltosTimeValue d : alt_speed_series) {
 329                                         if (d.time > apogee_time)
 330                                                 speed_series.add(d);
 331                                 }
 332
 333                         }
 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;
 338                 }
 339                 if (speed_series != null)
 340                         add_series(speed_series);
 341         }
 342
 343         public AltosTimeSeries orient_series;
 344
 345         public static final String orient_name = "Tilt Angle";
 346
 347         private void compute_orient() {
 348
 349                 if (orient_series != null)
 350                         return;
 351
 352                 if (accel_ground_across == AltosLib.MISSING)
 353                         return;
 354
 355                 if (cal_data().pad_orientation == AltosLib.MISSING)
 356                         return;
 357
 358                 if (cal_data().accel_zero_across == AltosLib.MISSING)
 359                         return;
 360
 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;
 366
 367                 orient_series = add_series(orient_name, AltosConvert.orient);
 368                 orient_series.add(ground_time, rotation.tilt());
 369
 370                 for (AltosTimeValue roll_v : gyro_roll) {
 371                         double  time = roll_v.time;
 372                         double  dt = time - prev_time;
 373
 374                         if (dt > 0) {
 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;
 378
 379                                 rotation.rotate(pitch, yaw, roll);
 380                                 orient_series.add(time, rotation.tilt());
 381                         }
 382                         prev_time = time;
 383                 }
 384         }
 385
 386         public AltosTimeSeries  kalman_height_series, kalman_speed_series, kalman_accel_series;
 387
 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";
 391
 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);
 397                 }
 398                 kalman_height_series.add(time(), height);
 399                 kalman_speed_series.add(time(), speed);
 400                 kalman_accel_series.add(time(), acceleration);
 401         }
 402
 403         public AltosTimeSeries thrust_series;
 404
 405         public static final String thrust_name = "Thrust";
 406
 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);
 411         }
 412
 413         public AltosTimeSeries temperature_series;
 414
 415         public static final String temperature_name = "Temperature";
 416
 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);
 421         }
 422
 423         public AltosTimeSeries battery_voltage_series;
 424
 425         public static final String battery_voltage_name = "Battery Voltage";
 426
 427         public void set_battery_voltage(double volts) {
 428                 if (volts == AltosLib.MISSING)
 429                         return;
 430                 if (battery_voltage_series == null)
 431                         battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
 432                 battery_voltage_series.add(time(), volts);
 433         }
 434
 435         public AltosTimeSeries apogee_voltage_series;
 436
 437         public static final String apogee_voltage_name = "Apogee Voltage";
 438
 439         public void set_apogee_voltage(double volts) {
 440                 if (volts == AltosLib.MISSING)
 441                         return;
 442                 if (apogee_voltage_series == null)
 443                         apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
 444                 apogee_voltage_series.add(time(), volts);
 445         }
 446
 447         public AltosTimeSeries main_voltage_series;
 448
 449         public static final String main_voltage_name = "Main Voltage";
 450
 451         public void set_main_voltage(double volts) {
 452                 if (volts == AltosLib.MISSING)
 453                         return;
 454                 if (main_voltage_series == null)
 455                         main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
 456                 main_voltage_series.add(time(), volts);
 457         }
 458
 459         public ArrayList<AltosGPSTimeValue> gps_series;
 460
 461         public AltosGPS gps_before(double time) {
 462                 AltosGPS gps = null;
 463                 for (AltosGPSTimeValue gtv : gps_series)
 464                         if (gtv.time <= time)
 465                                 gps = gtv.gps;
 466                         else
 467                                 break;
 468                 return gps;
 469         }
 470
 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;
 480
 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";
 492
 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));
 497
 498                 if (sats_in_soln == null) {
 499                         sats_in_soln = add_series(sats_in_soln_name, null);
 500                 }
 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);
 506                 }
 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);
 511                 }
 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);
 516                 }
 517                 if (gps.locked) {
 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);
 522                         }
 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);
 527                         }
 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);
 532                         }
 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);
 537                         }
 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));
 543                         }
 544                 }
 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);
 549                 }
 550         }
 551
 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";
 555
 556         public AltosTimeSeries accel_along, accel_across, accel_through;
 557
 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";
 561
 562         public AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
 563
 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";
 567
 568         public AltosTimeSeries mag_along, mag_across, mag_through;
 569
 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);
 575                 }
 576                 accel_along.add(time(), along);
 577                 accel_across.add(time(), across);
 578                 accel_through.add(time(), through);
 579         }
 580
 581         private double  accel_ground_along = AltosLib.MISSING;
 582         private double  accel_ground_across = AltosLib.MISSING;
 583         private double  accel_ground_through = AltosLib.MISSING;
 584
 585         private double          ground_time;
 586
 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();
 592         }
 593
 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);
 599                 }
 600                 gyro_roll.add(time(), roll);
 601                 gyro_pitch.add(time(), pitch);
 602                 gyro_yaw.add(time(), yaw);
 603         }
 604
 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);
 610                 }
 611                 mag_along.add(time(), along);
 612                 mag_across.add(time(), across);
 613                 mag_through.add(time(), through);
 614         }
 615
 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);
 620         }
 621
 622         public static final String pyro_voltage_name = "Pyro Voltage";
 623
 624         public AltosTimeSeries pyro_voltage;
 625
 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);
 630         }
 631
 632         private static String[] igniter_voltage_names;
 633
 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];
 637                         int     i = 0;
 638
 639                         if (igniter_voltage_names != null) {
 640                                 for (; i < igniter_voltage_names.length; i++)
 641                                         new_igniter_voltage_names[i] = igniter_voltage_names[i];
 642                         }
 643                         for (; i < channel+1; i++)
 644                                 new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
 645                         igniter_voltage_names = new_igniter_voltage_names;
 646                 }
 647                 return igniter_voltage_names[channel];
 648         }
 649
 650         public AltosTimeSeries[] igniter_voltage;
 651
 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];
 656                         int                     i = 0;
 657
 658                         if (igniter_voltage != null) {
 659                                 for (; i < igniter_voltage.length; i++)
 660                                         new_igniter_voltage[i] = igniter_voltage[i];
 661                         }
 662                         for (; i < channels; i++)
 663                                 new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
 664                         igniter_voltage = new_igniter_voltage;
 665                 }
 666                 for (int channel = 0; channel < voltage.length; channel++)
 667                         igniter_voltage[channel].add(time(), voltage[channel]);
 668         }
 669
 670         public static final String pyro_fired_name = "Pyro Channel State";
 671
 672         public AltosTimeSeries pyro_fired_series;
 673
 674         int     last_pyro_mask;
 675
 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);
 683                         }
 684                 }
 685                 last_pyro_mask = pyro_mask;
 686         }
 687
 688         public void set_companion(AltosCompanion companion) {
 689         }
 690
 691         public void finish() {
 692                 compute_orient();
 693                 compute_speed();
 694                 compute_accel();
 695                 compute_height();
 696         }
 697
 698         public AltosTimeSeries[] series() {
 699                 finish();
 700                 return series.toArray(new AltosTimeSeries[0]);
 701         }
 702
 703         public AltosFlightSeries(AltosCalData cal_data) {
 704                 super(cal_data);
 705         }
 706 }