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