git.gag.com Git - fw/altos/blob - altoslib/AltosState.java

   1 /*
   2  * Copyright © 2010 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  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 /*
  20  * Track flight state from telemetry or eeprom data stream
  21  */
  22
  23 package org.altusmetrum.altoslib_11;
  24
  25 import java.io.*;
  26
  27 public class AltosState extends AltosDataListener {
  28
  29         public static final int set_position = 1;
  30         public static final int set_gps = 2;
  31         public static final int set_data = 4;
  32
  33         public int set;
  34
  35         static final double filter_len = 2.0;
  36         static final double ascent_filter_len = 0.5;
  37         static final double descent_filter_len = 5.0;
  38
  39         /* derived data */
  40
  41         public long     received_time;
  42
  43         public int      rssi;
  44         public int      status;
  45
  46         public double   time;
  47         public double   prev_time;
  48         public double   time_change;
  49
  50         class AltosValue {
  51                 double  value;
  52                 double  prev_value;
  53                 private double  max_value;
  54                 private double  set_time;
  55                 private double  prev_set_time;
  56
  57                 boolean can_max() { return true; }
  58
  59                 void set(double new_value, double time) {
  60                         if (new_value != AltosLib.MISSING) {
  61                                 value = new_value;
  62                                 if (can_max() && (max_value == AltosLib.MISSING || value > max_value))
  63                                         max_value = value;
  64                                 set_time = time;
  65                         }
  66                 }
  67
  68                 void set_filtered(double new_value, double time) {
  69                         if (prev_value != AltosLib.MISSING) {
  70                                 double f = 1/Math.exp((time - prev_set_time) / filter_len);
  71                                 new_value = f * new_value + (1-f) * prev_value;
  72                         }
  73                         set(new_value, time);
  74                 }
  75
  76                 double value() {
  77                         return value;
  78                 }
  79
  80                 double max() {
  81                         return max_value;
  82                 }
  83
  84                 double prev() {
  85                         return prev_value;
  86                 }
  87
  88                 double change() {
  89                         if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
  90                                 return value - prev_value;
  91                         return AltosLib.MISSING;
  92                 }
  93
  94                 double rate() {
  95                         double c = change();
  96                         double t = set_time - prev_set_time;
  97
  98                         if (c != AltosLib.MISSING && t != 0)
  99                                 return c / t;
 100                         return AltosLib.MISSING;
 101                 }
 102
 103                 double integrate() {
 104                         if (value == AltosLib.MISSING)
 105                                 return AltosLib.MISSING;
 106                         if (prev_value == AltosLib.MISSING)
 107                                 return AltosLib.MISSING;
 108
 109                         return (value + prev_value) / 2 * (set_time - prev_set_time);
 110                 }
 111
 112                 double time() {
 113                         return set_time;
 114                 }
 115
 116                 void set_derivative(AltosValue in) {
 117                         double  n = in.rate();
 118
 119                         if (n == AltosLib.MISSING)
 120                                 return;
 121
 122                         double  p = prev_value;
 123                         double  pt = prev_set_time;
 124
 125                         if (p == AltosLib.MISSING) {
 126                                 p = 0;
 127                                 pt = in.time() - 0.01;
 128                         }
 129
 130                         /* Clip changes to reduce noise */
 131                         double  ddt = in.time() - pt;
 132                         double  ddv = (n - p) / ddt;
 133
 134                         final double max = 100000;
 135
 136                         /* 100gs */
 137                         if (Math.abs(ddv) > max) {
 138                                 if (n > p)
 139                                         n = p + ddt * max;
 140                                 else
 141                                         n = p - ddt * max;
 142                         }
 143
 144                         double filter_len;
 145
 146                         if (ascent)
 147                                 filter_len = ascent_filter_len;
 148                         else
 149                                 filter_len = descent_filter_len;
 150
 151                         double f = 1/Math.exp(ddt/ filter_len);
 152                         n = p * f + n * (1-f);
 153
 154                         set(n, in.time());
 155                 }
 156
 157                 void set_integral(AltosValue in) {
 158                         double  change = in.integrate();
 159
 160                         if (change != AltosLib.MISSING) {
 161                                 double  prev = prev_value;
 162                                 if (prev == AltosLib.MISSING)
 163                                         prev = 0;
 164                                 set(prev + change, in.time());
 165                         }
 166                 }
 167
 168                 void copy(AltosValue old) {
 169                         value = old.value;
 170                         set_time = old.set_time;
 171                         prev_value = old.value;
 172                         prev_set_time = old.set_time;
 173                         max_value = old.max_value;
 174                 }
 175
 176                 void finish_update() {
 177                         prev_value = value;
 178                         prev_set_time = set_time;
 179                 }
 180
 181                 AltosValue() {
 182                         value = AltosLib.MISSING;
 183                         prev_value = AltosLib.MISSING;
 184                         max_value = AltosLib.MISSING;
 185                 }
 186
 187         }
 188
 189         class AltosCValue {
 190
 191                 class AltosIValue extends AltosValue {
 192                         boolean can_max() {
 193                                 return c_can_max();
 194                         }
 195
 196                         AltosIValue() {
 197                                 super();
 198                         }
 199                 };
 200
 201                 public AltosIValue      measured;
 202                 public AltosIValue      computed;
 203
 204                 boolean can_max() { return true; }
 205
 206                 boolean c_can_max() { return can_max(); }
 207
 208                 double value() {
 209                         double v = measured.value();
 210                         if (v != AltosLib.MISSING)
 211                                 return v;
 212                         return computed.value();
 213                 }
 214
 215                 boolean is_measured() {
 216                         return measured.value() != AltosLib.MISSING;
 217                 }
 218
 219                 double max() {
 220                         double m = measured.max();
 221
 222                         if (m != AltosLib.MISSING)
 223                                 return m;
 224                         return computed.max();
 225                 }
 226
 227                 double prev_value() {
 228                         if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
 229                                 return measured.prev_value;
 230                         return computed.prev_value;
 231                 }
 232
 233                 AltosValue altos_value() {
 234                         if (measured.value() != AltosLib.MISSING)
 235                                 return measured;
 236                         return computed;
 237                 }
 238
 239                 double change() {
 240                         double c = measured.change();
 241                         if (c == AltosLib.MISSING)
 242                                 c = computed.change();
 243                         return c;
 244                 }
 245
 246                 double rate() {
 247                         double r = measured.rate();
 248                         if (r == AltosLib.MISSING)
 249                                 r = computed.rate();
 250                         return r;
 251                 }
 252
 253                 void set_measured(double new_value, double time) {
 254                         measured.set(new_value, time);
 255                 }
 256
 257                 void set_computed(double new_value, double time) {
 258                         computed.set(new_value, time);
 259                 }
 260
 261                 void set_derivative(AltosValue in) {
 262                         computed.set_derivative(in);
 263                 }
 264
 265                 void set_derivative(AltosCValue in) {
 266                         set_derivative(in.altos_value());
 267                 }
 268
 269                 void set_integral(AltosValue in) {
 270                         computed.set_integral(in);
 271                 }
 272
 273                 void set_integral(AltosCValue in) {
 274                         set_integral(in.altos_value());
 275                 }
 276
 277                 void copy(AltosCValue old) {
 278                         measured.copy(old.measured);
 279                         computed.copy(old.computed);
 280                 }
 281
 282                 void finish_update() {
 283                         measured.finish_update();
 284                         computed.finish_update();
 285                 }
 286
 287                 public AltosCValue() {
 288                         measured = new AltosIValue();
 289                         computed = new AltosIValue();
 290                 }
 291         }
 292
 293         private int     state;
 294         public int      altitude_32;
 295         public int      receiver_serial;
 296         public boolean  landed;
 297         public boolean  ascent; /* going up? */
 298         public boolean  boost;  /* under power */
 299         public int      config_major;
 300         public int      config_minor;
 301         public int      apogee_delay;
 302         public int      main_deploy;
 303         public int      flight_log_max;
 304
 305         private double pressure_to_altitude(double p) {
 306                 if (p == AltosLib.MISSING)
 307                         return AltosLib.MISSING;
 308                 return AltosConvert.pressure_to_altitude(p);
 309         }
 310
 311         private AltosCValue ground_altitude;
 312
 313         public double ground_altitude() {
 314                 return ground_altitude.value();
 315         }
 316
 317         public void set_ground_altitude(double a) {
 318                 ground_altitude.set_measured(a, time);
 319         }
 320
 321         class AltosGpsGroundAltitude extends AltosValue {
 322                 void set(double a, double t) {
 323                         super.set(a, t);
 324                         pad_alt = value();
 325                         gps_altitude.set_gps_height();
 326                 }
 327
 328                 void set_filtered(double a, double t) {
 329                         super.set_filtered(a, t);
 330                         pad_alt = value();
 331                         gps_altitude.set_gps_height();
 332                 }
 333
 334                 AltosGpsGroundAltitude() {
 335                         super();
 336                 }
 337         }
 338
 339         private AltosGpsGroundAltitude gps_ground_altitude;
 340
 341         public double gps_ground_altitude() {
 342                 return gps_ground_altitude.value();
 343         }
 344
 345         public void set_gps_ground_altitude(double a) {
 346                 gps_ground_altitude.set(a, time);
 347         }
 348
 349         class AltosGroundPressure extends AltosCValue {
 350                 void set_filtered(double p, double time) {
 351                         computed.set_filtered(p, time);
 352                         if (!is_measured())
 353                                 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
 354                 }
 355
 356                 void set_measured(double p, double time) {
 357                         super.set_measured(p, time);
 358                         ground_altitude.set_computed(pressure_to_altitude(p), time);
 359                 }
 360
 361                 AltosGroundPressure () {
 362                         super();
 363                 }
 364         }
 365
 366         private AltosGroundPressure ground_pressure;
 367
 368         public double ground_pressure() {
 369                 return ground_pressure.value();
 370         }
 371
 372         public void set_ground_pressure (double pressure) {
 373                 ground_pressure.set_measured(pressure, time);
 374         }
 375
 376         class AltosAltitude extends AltosCValue {
 377
 378                 private void set_speed(AltosValue v) {
 379                         if (!acceleration.is_measured() || !ascent)
 380                                 speed.set_derivative(this);
 381                 }
 382
 383                 void set_computed(double a, double time) {
 384                         super.set_computed(a,time);
 385                         set_speed(computed);
 386                         set |= set_position;
 387                 }
 388
 389                 void set_measured(double a, double time) {
 390                         super.set_measured(a,time);
 391                         set_speed(measured);
 392                         set |= set_position;
 393                 }
 394
 395                 AltosAltitude() {
 396                         super();
 397                 }
 398         }
 399
 400         private AltosAltitude   altitude;
 401
 402         class AltosGpsAltitude extends AltosValue {
 403
 404                 private void set_gps_height() {
 405                         double  a = value();
 406                         double  g = gps_ground_altitude.value();
 407
 408                         if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 409                                 gps_height = a - g;
 410                         else
 411                                 gps_height = AltosLib.MISSING;
 412                 }
 413
 414                 void set(double a, double t) {
 415                         super.set(a, t);
 416                         set_gps_height();
 417                 }
 418
 419                 AltosGpsAltitude() {
 420                         super();
 421                 }
 422         }
 423
 424         private AltosGpsAltitude        gps_altitude;
 425
 426         private AltosValue              gps_ground_speed;
 427         private AltosValue              gps_ascent_rate;
 428         private AltosValue              gps_course;
 429         private AltosValue              gps_speed;
 430
 431         public double altitude() {
 432                 double a = altitude.value();
 433                 if (a != AltosLib.MISSING)
 434                         return a;
 435                 return gps_altitude.value();
 436         }
 437
 438         public double max_altitude() {
 439                 double a = altitude.max();
 440                 if (a != AltosLib.MISSING)
 441                         return a;
 442                 return gps_altitude.max();
 443         }
 444
 445         public void set_altitude(double new_altitude) {
 446                 double old_altitude = altitude.value();
 447                 if (old_altitude != AltosLib.MISSING) {
 448                         while (old_altitude - new_altitude > 32000)
 449                                 new_altitude += 65536.0;
 450                 }
 451                 altitude.set_measured(new_altitude, time);
 452         }
 453
 454         public double gps_altitude() {
 455                 return gps_altitude.value();
 456         }
 457
 458         public double max_gps_altitude() {
 459                 return gps_altitude.max();
 460         }
 461
 462         public void set_gps_altitude(double new_gps_altitude) {
 463                 gps_altitude.set(new_gps_altitude, time);
 464         }
 465
 466         public double gps_ground_speed() {
 467                 return gps_ground_speed.value();
 468         }
 469
 470         public double max_gps_ground_speed() {
 471                 return gps_ground_speed.max();
 472         }
 473
 474         public double gps_ascent_rate() {
 475                 return gps_ascent_rate.value();
 476         }
 477
 478         public double max_gps_ascent_rate() {
 479                 return gps_ascent_rate.max();
 480         }
 481
 482         public double gps_course() {
 483                 return gps_course.value();
 484         }
 485
 486         public double gps_speed() {
 487                 return gps_speed.value();
 488         }
 489
 490         public double max_gps_speed() {
 491                 return gps_speed.max();
 492         }
 493
 494         class AltosPressure extends AltosValue {
 495                 void set(double p, double time) {
 496                         super.set(p, time);
 497                         if (state == AltosLib.ao_flight_pad)
 498                                 ground_pressure.set_filtered(p, time);
 499                         double a = pressure_to_altitude(p);
 500                         altitude.set_computed(a, time);
 501                 }
 502
 503                 AltosPressure() {
 504                         super();
 505                 }
 506         }
 507
 508         private AltosPressure   pressure;
 509
 510         public double pressure() {
 511                 return pressure.value();
 512         }
 513
 514         public void set_pressure(double p) {
 515                 pressure.set(p, time);
 516         }
 517
 518         class AltosForce extends AltosValue {
 519                 void set(double p, double time) {
 520                         super.set(p, time);
 521                 }
 522
 523                 AltosForce() {
 524                         super();
 525                 }
 526         }
 527         private AltosForce      thrust;
 528
 529         public double thrust() {
 530                 return thrust.value();
 531         }
 532
 533         public void set_thrust(double N) {
 534                 thrust.set(N, time);
 535         }
 536
 537         public double baro_height() {
 538                 double a = altitude();
 539                 double g = ground_altitude();
 540                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 541                         return a - g;
 542                 return AltosLib.MISSING;
 543         }
 544
 545         public double height() {
 546                 double k = kalman_height.value();
 547                 if (k != AltosLib.MISSING)
 548                         return k;
 549
 550                 double b = baro_height();
 551                 if (b != AltosLib.MISSING)
 552                         return b;
 553
 554                 return gps_height();
 555         }
 556
 557         public double max_height() {
 558                 double  k = kalman_height.max();
 559                 if (k != AltosLib.MISSING)
 560                         return k;
 561
 562                 double a = altitude.max();
 563                 double g = ground_altitude();
 564                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 565                         return a - g;
 566                 return max_gps_height();
 567         }
 568
 569         public double gps_height() {
 570                 double a = gps_altitude();
 571                 double g = gps_ground_altitude();
 572
 573                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 574                         return a - g;
 575                 return AltosLib.MISSING;
 576         }
 577
 578         public double max_gps_height() {
 579                 double a = gps_altitude.max();
 580                 double g = gps_ground_altitude();
 581
 582                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 583                         return a - g;
 584                 return AltosLib.MISSING;
 585         }
 586
 587         class AltosSpeed extends AltosCValue {
 588
 589                 boolean can_max() {
 590                         return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
 591                 }
 592
 593                 void set_accel() {
 594                         acceleration.set_derivative(this);
 595                 }
 596
 597                 void set_derivative(AltosCValue in) {
 598                         super.set_derivative(in);
 599                         set_accel();
 600                 }
 601
 602                 void set_computed(double new_value, double time) {
 603                         super.set_computed(new_value, time);
 604                         set_accel();
 605                 }
 606
 607                 void set_measured(double new_value, double time) {
 608                         super.set_measured(new_value, time);
 609                         set_accel();
 610                 }
 611
 612                 AltosSpeed() {
 613                         super();
 614                 }
 615         }
 616
 617         private AltosSpeed speed;
 618
 619         public double speed() {
 620                 double v = kalman_speed.value();
 621                 if (v != AltosLib.MISSING)
 622                         return v;
 623                 v = speed.value();
 624                 if (v != AltosLib.MISSING)
 625                         return v;
 626                 v = gps_speed();
 627                 if (v != AltosLib.MISSING)
 628                         return v;
 629                 return AltosLib.MISSING;
 630         }
 631
 632         public double max_speed() {
 633                 double v = kalman_speed.max();
 634                 if (v != AltosLib.MISSING)
 635                         return v;
 636                 v = speed.max();
 637                 if (v != AltosLib.MISSING)
 638                         return v;
 639                 v = max_gps_speed();
 640                 if (v != AltosLib.MISSING)
 641                         return v;
 642                 return AltosLib.MISSING;
 643         }
 644
 645         class AltosAccel extends AltosCValue {
 646
 647                 boolean can_max() {
 648                         return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
 649                 }
 650
 651                 void set_measured(double a, double time) {
 652                         super.set_measured(a, time);
 653                         if (ascent)
 654                                 speed.set_integral(this.measured);
 655                 }
 656
 657                 AltosAccel() {
 658                         super();
 659                 }
 660         }
 661
 662         AltosAccel acceleration;
 663
 664         public double acceleration() {
 665                 return acceleration.value();
 666         }
 667
 668         public double max_acceleration() {
 669                 return acceleration.max();
 670         }
 671
 672         public AltosCValue      orient;
 673
 674         public void set_orient(double new_orient) {
 675                 orient.set_measured(new_orient, time);
 676         }
 677
 678         public double orient() {
 679                 return orient.value();
 680         }
 681
 682         public double max_orient() {
 683                 return orient.max();
 684         }
 685
 686         public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 687
 688         public void set_kalman(double height, double speed, double acceleration) {
 689                 double old_height = kalman_height.value();
 690                 if (old_height != AltosLib.MISSING) {
 691                         while (old_height - height > 32000)
 692                                 height += 65536;
 693                 }
 694                 kalman_height.set(height, time);
 695                 kalman_speed.set(speed, time);
 696                 kalman_acceleration.set(acceleration, time);
 697         }
 698
 699         public double   battery_voltage;
 700         public double   pyro_voltage;
 701         public double   temperature;
 702         public double   apogee_voltage;
 703         public double   main_voltage;
 704
 705         public double   igniter_voltage[];
 706
 707         public AltosGPS gps;
 708         public boolean  gps_pending;
 709
 710         public AltosIMU imu;
 711         public AltosMag mag;
 712
 713         public static final int MIN_PAD_SAMPLES = 10;
 714
 715         public int      npad;
 716         public int      gps_waiting;
 717         public boolean  gps_ready;
 718
 719         public int      ngps;
 720
 721         public AltosGreatCircle from_pad;
 722         public double   elevation;      /* from pad */
 723         public double   range;          /* total distance */
 724
 725         public double   gps_height;
 726
 727         public double pad_lat, pad_lon, pad_alt;
 728
 729         public int      speak_tick;
 730         public double   speak_altitude;
 731
 732         public String   callsign;
 733         public String   firmware_version;
 734
 735         public double   ground_accel;
 736
 737         public int      log_format;
 738         public int      log_space;
 739         public String   product;
 740
 741         public AltosMs5607      baro;
 742
 743         public AltosCompanion   companion;
 744
 745         public int      pyro_fired;
 746
 747         public void set_npad(int npad) {
 748                 this.npad = npad;
 749                 gps_waiting = MIN_PAD_SAMPLES - npad;
 750                 if (this.gps_waiting < 0)
 751                         gps_waiting = 0;
 752                 gps_ready = gps_waiting == 0;
 753         }
 754
 755         public void init() {
 756                 set = 0;
 757
 758                 System.out.printf("state init\n");
 759                 received_time = System.currentTimeMillis();
 760                 time = AltosLib.MISSING;
 761                 time_change = AltosLib.MISSING;
 762                 prev_time = AltosLib.MISSING;
 763                 state = AltosLib.ao_flight_invalid;
 764                 landed = false;
 765                 boost = false;
 766                 rssi = AltosLib.MISSING;
 767                 status = 0;
 768                 config_major = AltosLib.MISSING;
 769                 config_minor = AltosLib.MISSING;
 770                 apogee_delay = AltosLib.MISSING;
 771                 main_deploy = AltosLib.MISSING;
 772                 flight_log_max = AltosLib.MISSING;
 773
 774                 ground_altitude = new AltosCValue();
 775                 ground_pressure = new AltosGroundPressure();
 776                 altitude = new AltosAltitude();
 777                 pressure = new AltosPressure();
 778                 thrust = new AltosForce();
 779                 speed = new AltosSpeed();
 780                 acceleration = new AltosAccel();
 781                 orient = new AltosCValue();
 782
 783                 temperature = AltosLib.MISSING;
 784                 battery_voltage = AltosLib.MISSING;
 785                 pyro_voltage = AltosLib.MISSING;
 786                 apogee_voltage = AltosLib.MISSING;
 787                 main_voltage = AltosLib.MISSING;
 788                 igniter_voltage = null;
 789
 790                 kalman_height = new AltosValue();
 791                 kalman_speed = new AltosValue();
 792                 kalman_acceleration = new AltosValue();
 793
 794                 gps = null;
 795                 gps_pending = false;
 796
 797                 imu = null;
 798                 last_imu_time = AltosLib.MISSING;
 799                 rotation = null;
 800                 ground_rotation = null;
 801
 802                 mag = null;
 803                 accel_zero_along = AltosLib.MISSING;
 804                 accel_zero_across = AltosLib.MISSING;
 805                 accel_zero_through = AltosLib.MISSING;
 806
 807                 accel_ground_along = AltosLib.MISSING;
 808                 accel_ground_across = AltosLib.MISSING;
 809                 accel_ground_through = AltosLib.MISSING;
 810
 811                 pad_orientation = AltosLib.MISSING;
 812
 813                 set_npad(0);
 814                 ngps = 0;
 815
 816                 from_pad = null;
 817                 elevation = AltosLib.MISSING;
 818                 range = AltosLib.MISSING;
 819                 gps_height = AltosLib.MISSING;
 820
 821                 pad_lat = AltosLib.MISSING;
 822                 pad_lon = AltosLib.MISSING;
 823                 pad_alt = AltosLib.MISSING;
 824
 825                 gps_altitude = new AltosGpsAltitude();
 826                 gps_ground_altitude = new AltosGpsGroundAltitude();
 827                 gps_ground_speed = new AltosValue();
 828                 gps_speed = new AltosValue();
 829                 gps_ascent_rate = new AltosValue();
 830                 gps_course = new AltosValue();
 831
 832                 speak_tick = AltosLib.MISSING;
 833                 speak_altitude = AltosLib.MISSING;
 834
 835                 callsign = null;
 836                 firmware_version = null;
 837
 838                 ground_accel = AltosLib.MISSING;
 839
 840                 log_format = AltosLib.MISSING;
 841                 log_space = AltosLib.MISSING;
 842                 product = null;
 843                 receiver_serial = AltosLib.MISSING;
 844                 altitude_32 = AltosLib.MISSING;
 845
 846                 baro = null;
 847                 companion = null;
 848
 849                 pyro_fired = 0;
 850         }
 851
 852         void finish_update() {
 853                 ground_altitude.finish_update();
 854                 altitude.finish_update();
 855                 pressure.finish_update();
 856                 speed.finish_update();
 857                 acceleration.finish_update();
 858                 orient.finish_update();
 859
 860                 kalman_height.finish_update();
 861                 kalman_speed.finish_update();
 862                 kalman_acceleration.finish_update();
 863         }
 864
 865         void update_time() {
 866         }
 867
 868         void update_gps() {
 869                 elevation = AltosLib.MISSING;
 870                 range = AltosLib.MISSING;
 871
 872                 if (gps == null)
 873                         return;
 874
 875                 if (gps.locked && gps.nsat >= 4) {
 876                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 877                         if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) {
 878                                 set_npad(npad+1);
 879                                 if (pad_lat != AltosLib.MISSING && (npad < 10 || state == AltosLib.ao_flight_pad)) {
 880                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
 881                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
 882                                         gps_ground_altitude.set_filtered(gps.alt, time);
 883                                 }
 884                         }
 885                         if (pad_lat == AltosLib.MISSING) {
 886                                 pad_lat = gps.lat;
 887                                 pad_lon = gps.lon;
 888                                 gps_ground_altitude.set(gps.alt, time);
 889                         }
 890                         gps_altitude.set(gps.alt, time);
 891                         if (gps.climb_rate != AltosLib.MISSING)
 892                                 gps_ascent_rate.set(gps.climb_rate, time);
 893                         if (gps.ground_speed != AltosLib.MISSING)
 894                                 gps_ground_speed.set(gps.ground_speed, time);
 895                         if (gps.climb_rate != AltosLib.MISSING && gps.ground_speed != AltosLib.MISSING)
 896                                 gps_speed.set(Math.sqrt(gps.ground_speed * gps.ground_speed +
 897                                                         gps.climb_rate * gps.climb_rate), time);
 898                         if (gps.course != AltosLib.MISSING)
 899                                 gps_course.set(gps.course, time);
 900                 }
 901                 if (gps.lat != 0 && gps.lon != 0 &&
 902                     pad_lat != AltosLib.MISSING &&
 903                     pad_lon != AltosLib.MISSING)
 904                 {
 905                         double h = height();
 906
 907                         if (h == AltosLib.MISSING)
 908                                 h = 0;
 909                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 910                         elevation = from_pad.elevation;
 911                         range = from_pad.range;
 912                 }
 913         }
 914
 915         public String state_name() {
 916                 return AltosLib.state_name(state);
 917         }
 918
 919         public void set_product(String product) {
 920                 this.product = product;
 921         }
 922
 923         public void set_state(int state) {
 924                 if (state != AltosLib.ao_flight_invalid) {
 925                         this.state = state;
 926                         ascent = (AltosLib.ao_flight_boost <= state &&
 927                                   state <= AltosLib.ao_flight_coast);
 928                         boost = (AltosLib.ao_flight_boost == state);
 929                 }
 930         }
 931
 932         public int state() {
 933                 return state;
 934         }
 935
 936         public void set_log_format(int log_format) {
 937                 this.log_format = log_format;
 938                 switch (log_format) {
 939                 case AltosLib.AO_LOG_FORMAT_TELEGPS:
 940                         this.state = AltosLib.ao_flight_stateless;
 941                         break;
 942                 }
 943         }
 944
 945         public void set_log_space(int log_space) {
 946                 this.log_space = log_space;
 947         }
 948
 949         public void set_flight_params(int apogee_delay, int main_deploy) {
 950                 this.apogee_delay = apogee_delay;
 951                 this.main_deploy = main_deploy;
 952         }
 953
 954         public void set_config(int major, int minor, int flight_log_max) {
 955                 config_major = major;
 956                 config_minor = minor;
 957                 this.flight_log_max = flight_log_max;
 958         }
 959
 960         public void set_callsign(String callsign) {
 961                 this.callsign = callsign;
 962         }
 963
 964         public void set_firmware_version(String version) {
 965                 firmware_version = version;
 966         }
 967
 968         public int compare_version(String other_version) {
 969                 if (firmware_version == null)
 970                         return AltosLib.MISSING;
 971                 return AltosLib.compare_version(firmware_version, other_version);
 972         }
 973
 974         private void re_init() {
 975                 int rs = receiver_serial;
 976                 init();
 977                 receiver_serial = rs;
 978         }
 979
 980 //      public void set_flight(int flight) {
 981 //
 982 //              /* When the flight changes, reset the state */
 983 //              if (flight != AltosLib.MISSING) {
 984 //                      if (this.flight != AltosLib.MISSING &&
 985 //                          this.flight != flight) {
 986 //                              re_init();
 987 //                      }
 988 //                      this.flight = flight;
 989 //              }
 990 //      }
 991 //
 992 //      public void set_serial(int serial) {
 993 //              /* When the serial changes, reset the state */
 994 //              if (serial != AltosLib.MISSING) {
 995 //                      if (this.serial != AltosLib.MISSING &&
 996 //                          this.serial != serial) {
 997 //                              re_init();
 998 //                      }
 999 //                      this.serial = serial;
1000 //              }
1001 //      }
1002 //
1003 //      public void set_receiver_serial(int serial) {
1004 //              if (serial != AltosLib.MISSING)
1005 //                      receiver_serial = serial;
1006 //      }
1007
1008         public boolean altitude_32() {
1009                 return altitude_32 == 1;
1010         }
1011
1012         public void set_altitude_32(int altitude_32) {
1013                 if (altitude_32 != AltosLib.MISSING)
1014                         this.altitude_32 = altitude_32;
1015         }
1016
1017         public int rssi() {
1018                 if (rssi == AltosLib.MISSING)
1019                         return 0;
1020                 return rssi;
1021         }
1022
1023         public void set_rssi(int rssi, int status) {
1024                 if (rssi != AltosLib.MISSING) {
1025                         this.rssi = rssi;
1026                         this.status = status;
1027                 }
1028         }
1029
1030         public void set_received_time(long ms) {
1031                 received_time = ms;
1032         }
1033
1034         public void set_gps(AltosGPS gps) {
1035                 if (gps != null) {
1036                         this.gps = gps;
1037                         update_gps();
1038                         set |= set_gps;
1039                 }
1040         }
1041
1042
1043         public double   accel_zero_along;
1044         public double   accel_zero_across;
1045         public double   accel_zero_through;
1046
1047         public AltosRotation    rotation;
1048         public AltosRotation    ground_rotation;
1049
1050         public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
1051                 if (zero_along != AltosLib.MISSING) {
1052                         accel_zero_along = zero_along;
1053                         accel_zero_across = zero_across;
1054                         accel_zero_through = zero_through;
1055                 }
1056         }
1057
1058         public int pad_orientation;
1059
1060         public double   accel_ground_along, accel_ground_across, accel_ground_through;
1061
1062         void update_pad_rotation() {
1063                 if (pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
1064                         rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - accel_zero_across),
1065                                                      AltosIMU.convert_accel(accel_ground_through - accel_zero_through),
1066                                                      AltosIMU.convert_accel(accel_ground_along - accel_zero_along),
1067                                                      pad_orientation);
1068                         ground_rotation = rotation;
1069                         orient.set_computed(rotation.tilt(), time);
1070                 }
1071         }
1072
1073         public void set_accel_ground(double ground_along, double ground_across, double ground_through) {
1074                 accel_ground_along = ground_along;
1075                 accel_ground_across = ground_across;
1076                 accel_ground_through = ground_through;
1077                 update_pad_rotation();
1078         }
1079
1080         public void set_pad_orientation(int pad_orientation) {
1081                 this.pad_orientation = pad_orientation;
1082                 update_pad_rotation();
1083         }
1084
1085         public double   last_imu_time;
1086
1087         private double radians(double degrees) {
1088                 if (degrees == AltosLib.MISSING)
1089                         return AltosLib.MISSING;
1090                 return degrees * Math.PI / 180.0;
1091         }
1092
1093         private void update_orient() {
1094                 if (last_imu_time != AltosLib.MISSING) {
1095                         double  t = time - last_imu_time;
1096
1097                         double  pitch = radians(gyro_pitch());
1098                         double  yaw = radians(gyro_yaw());
1099                         double  roll = radians(gyro_roll());
1100
1101                         if (t > 0 & pitch != AltosLib.MISSING && rotation != null) {
1102                                 rotation.rotate(t, pitch, yaw, roll);
1103                                 orient.set_computed(rotation.tilt(), time);
1104                         }
1105                 }
1106                 last_imu_time = time;
1107         }
1108
1109         private double  gyro_roll, gyro_pitch, gyro_yaw;
1110
1111         public void set_gyro(double roll, double pitch, double yaw) {
1112                 gyro_roll = roll;
1113                 gyro_pitch = roll;
1114                 gyro_roll = roll;
1115                 update_orient();
1116         }
1117
1118         private double accel_along, accel_across, accel_through;
1119
1120         public void set_accel(double along, double across, double through) {
1121                 accel_along = along;
1122                 accel_across = across;
1123                 accel_through = through;
1124                 update_orient();
1125         }
1126
1127         public double accel_along() {
1128                 return accel_along;
1129         }
1130
1131         public double accel_across() {
1132                 return accel_across;
1133         }
1134
1135         public double accel_through() {
1136                 return accel_through;
1137         }
1138
1139         public double gyro_roll() {
1140                 return gyro_roll;
1141         }
1142
1143         public double gyro_pitch() {
1144                 return gyro_pitch;
1145         }
1146
1147         public double gyro_yaw() {
1148                 return gyro_yaw;
1149         }
1150
1151         private double mag_along, mag_across, mag_through;
1152
1153         public void set_mag(double along, double across, double through) {
1154                 mag_along = along;
1155                 mag_across = across;
1156                 mag_through = through;
1157         }
1158
1159         public double mag_along() {
1160                 return mag_along;
1161         }
1162
1163         public double mag_across() {
1164                 if (mag != null)
1165                         return AltosMag.convert_gauss(mag.across);
1166                 return AltosLib.MISSING;
1167         }
1168
1169         public double mag_through() {
1170                 if (mag != null)
1171                         return AltosMag.convert_gauss(mag.through);
1172                 return AltosLib.MISSING;
1173         }
1174
1175         public void set_companion(AltosCompanion companion) {
1176                 this.companion = companion;
1177         }
1178
1179         public void set_acceleration(double acceleration) {
1180                 if (acceleration != AltosLib.MISSING) {
1181                         this.acceleration.set_measured(acceleration, time);
1182                         set |= set_data;
1183                 }
1184         }
1185
1186         public void set_temperature(double temperature) {
1187                 if (temperature != AltosLib.MISSING) {
1188                         this.temperature = temperature;
1189                         set |= set_data;
1190                 }
1191         }
1192
1193         public void set_battery_voltage(double battery_voltage) {
1194                 if (battery_voltage != AltosLib.MISSING) {
1195                         this.battery_voltage = battery_voltage;
1196                         set |= set_data;
1197                 }
1198         }
1199
1200         public void set_pyro_voltage(double pyro_voltage) {
1201                 if (pyro_voltage != AltosLib.MISSING) {
1202                         this.pyro_voltage = pyro_voltage;
1203                         set |= set_data;
1204                 }
1205         }
1206
1207         public void set_apogee_voltage(double apogee_voltage) {
1208                 if (apogee_voltage != AltosLib.MISSING) {
1209                         this.apogee_voltage = apogee_voltage;
1210                         set |= set_data;
1211                 }
1212         }
1213
1214         public void set_main_voltage(double main_voltage) {
1215                 if (main_voltage != AltosLib.MISSING) {
1216                         this.main_voltage = main_voltage;
1217                         set |= set_data;
1218                 }
1219         }
1220
1221         public void set_igniter_voltage(double[] voltage) {
1222                 this.igniter_voltage = voltage;
1223         }
1224
1225         public void set_pyro_fired(int fired) {
1226                 this.pyro_fired = fired;
1227         }
1228
1229         public AltosState (AltosCalData cal_data) {
1230                 super(cal_data);
1231                 init();
1232         }
1233 }