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; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 /*
  19  * Track flight state from telemetry or eeprom data stream
  20  */
  21
  22 package org.altusmetrum.altoslib_11;
  23
  24 import java.io.*;
  25
  26 public class AltosState implements Cloneable {
  27
  28         public static final int set_position = 1;
  29         public static final int set_gps = 2;
  30         public static final int set_data = 4;
  31
  32         public int set;
  33
  34         static final double filter_len = 2.0;
  35         static final double ascent_filter_len = 0.5;
  36         static final double descent_filter_len = 5.0;
  37
  38         /* derived data */
  39
  40         public long     received_time;
  41
  42         public double   time;
  43         public double   prev_time;
  44         public double   time_change;
  45         public int      tick;
  46         private int     prev_tick;
  47         public int      boost_tick;
  48
  49         class AltosValue {
  50                 double  value;
  51                 double  prev_value;
  52                 private double  max_value;
  53                 private double  set_time;
  54                 private double  prev_set_time;
  55
  56                 boolean can_max() { return true; }
  57
  58                 void set(double new_value, double time) {
  59                         if (new_value != AltosLib.MISSING) {
  60                                 value = new_value;
  61                                 if (can_max() && (max_value == AltosLib.MISSING || value > max_value))
  62                                         max_value = value;
  63                                 set_time = time;
  64                         }
  65                 }
  66
  67                 void set_filtered(double new_value, double time) {
  68                         if (prev_value != AltosLib.MISSING) {
  69                                 double f = 1/Math.exp((time - prev_set_time) / filter_len);
  70                                 new_value = f * new_value + (1-f) * prev_value;
  71                         }
  72                         set(new_value, time);
  73                 }
  74
  75                 double value() {
  76                         return value;
  77                 }
  78
  79                 double max() {
  80                         return max_value;
  81                 }
  82
  83                 double prev() {
  84                         return prev_value;
  85                 }
  86
  87                 double change() {
  88                         if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
  89                                 return value - prev_value;
  90                         return AltosLib.MISSING;
  91                 }
  92
  93                 double rate() {
  94                         double c = change();
  95                         double t = set_time - prev_set_time;
  96
  97                         if (c != AltosLib.MISSING && t != 0)
  98                                 return c / t;
  99                         return AltosLib.MISSING;
 100                 }
 101
 102                 double integrate() {
 103                         if (value == AltosLib.MISSING)
 104                                 return AltosLib.MISSING;
 105                         if (prev_value == AltosLib.MISSING)
 106                                 return AltosLib.MISSING;
 107
 108                         return (value + prev_value) / 2 * (set_time - prev_set_time);
 109                 }
 110
 111                 double time() {
 112                         return set_time;
 113                 }
 114
 115                 void set_derivative(AltosValue in) {
 116                         double  n = in.rate();
 117
 118                         if (n == AltosLib.MISSING)
 119                                 return;
 120
 121                         double  p = prev_value;
 122                         double  pt = prev_set_time;
 123
 124                         if (p == AltosLib.MISSING) {
 125                                 p = 0;
 126                                 pt = in.time() - 0.01;
 127                         }
 128
 129                         /* Clip changes to reduce noise */
 130                         double  ddt = in.time() - pt;
 131                         double  ddv = (n - p) / ddt;
 132
 133                         final double max = 100000;
 134
 135                         /* 100gs */
 136                         if (Math.abs(ddv) > max) {
 137                                 if (n > p)
 138                                         n = p + ddt * max;
 139                                 else
 140                                         n = p - ddt * max;
 141                         }
 142
 143                         double filter_len;
 144
 145                         if (ascent)
 146                                 filter_len = ascent_filter_len;
 147                         else
 148                                 filter_len = descent_filter_len;
 149
 150                         double f = 1/Math.exp(ddt/ filter_len);
 151                         n = p * f + n * (1-f);
 152
 153                         set(n, in.time());
 154                 }
 155
 156                 void set_integral(AltosValue in) {
 157                         double  change = in.integrate();
 158
 159                         if (change != AltosLib.MISSING) {
 160                                 double  prev = prev_value;
 161                                 if (prev == AltosLib.MISSING)
 162                                         prev = 0;
 163                                 set(prev + change, in.time());
 164                         }
 165                 }
 166
 167                 void copy(AltosValue old) {
 168                         value = old.value;
 169                         set_time = old.set_time;
 170                         prev_value = old.value;
 171                         prev_set_time = old.set_time;
 172                         max_value = old.max_value;
 173                 }
 174
 175                 void finish_update() {
 176                         prev_value = value;
 177                         prev_set_time = set_time;
 178                 }
 179
 180                 AltosValue() {
 181                         value = AltosLib.MISSING;
 182                         prev_value = AltosLib.MISSING;
 183                         max_value = AltosLib.MISSING;
 184                 }
 185
 186         }
 187
 188         class AltosCValue {
 189
 190                 class AltosIValue extends AltosValue {
 191                         boolean can_max() {
 192                                 return c_can_max();
 193                         }
 194
 195                         AltosIValue() {
 196                                 super();
 197                         }
 198                 };
 199
 200                 public AltosIValue      measured;
 201                 public AltosIValue      computed;
 202
 203                 boolean can_max() { return true; }
 204
 205                 boolean c_can_max() { return can_max(); }
 206
 207                 double value() {
 208                         double v = measured.value();
 209                         if (v != AltosLib.MISSING)
 210                                 return v;
 211                         return computed.value();
 212                 }
 213
 214                 boolean is_measured() {
 215                         return measured.value() != AltosLib.MISSING;
 216                 }
 217
 218                 double max() {
 219                         double m = measured.max();
 220
 221                         if (m != AltosLib.MISSING)
 222                                 return m;
 223                         return computed.max();
 224                 }
 225
 226                 double prev_value() {
 227                         if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
 228                                 return measured.prev_value;
 229                         return computed.prev_value;
 230                 }
 231
 232                 AltosValue altos_value() {
 233                         if (measured.value() != AltosLib.MISSING)
 234                                 return measured;
 235                         return computed;
 236                 }
 237
 238                 double change() {
 239                         double c = measured.change();
 240                         if (c == AltosLib.MISSING)
 241                                 c = computed.change();
 242                         return c;
 243                 }
 244
 245                 double rate() {
 246                         double r = measured.rate();
 247                         if (r == AltosLib.MISSING)
 248                                 r = computed.rate();
 249                         return r;
 250                 }
 251
 252                 void set_measured(double new_value, double time) {
 253                         measured.set(new_value, time);
 254                 }
 255
 256                 void set_computed(double new_value, double time) {
 257                         computed.set(new_value, time);
 258                 }
 259
 260                 void set_derivative(AltosValue in) {
 261                         computed.set_derivative(in);
 262                 }
 263
 264                 void set_derivative(AltosCValue in) {
 265                         set_derivative(in.altos_value());
 266                 }
 267
 268                 void set_integral(AltosValue in) {
 269                         computed.set_integral(in);
 270                 }
 271
 272                 void set_integral(AltosCValue in) {
 273                         set_integral(in.altos_value());
 274                 }
 275
 276                 void copy(AltosCValue old) {
 277                         measured.copy(old.measured);
 278                         computed.copy(old.computed);
 279                 }
 280
 281                 void finish_update() {
 282                         measured.finish_update();
 283                         computed.finish_update();
 284                 }
 285
 286                 public AltosCValue() {
 287                         measured = new AltosIValue();
 288                         computed = new AltosIValue();
 289                 }
 290         }
 291
 292         private int     state;
 293         public int      flight;
 294         public int      serial;
 295         public int      altitude_32;
 296         public int      receiver_serial;
 297         public boolean  landed;
 298         public boolean  ascent; /* going up? */
 299         public boolean  boost;  /* under power */
 300         public int      rssi;
 301         public int      status;
 302         public int      device_type;
 303         public int      config_major;
 304         public int      config_minor;
 305         public int      apogee_delay;
 306         public int      main_deploy;
 307         public int      flight_log_max;
 308
 309         private double pressure_to_altitude(double p) {
 310                 if (p == AltosLib.MISSING)
 311                         return AltosLib.MISSING;
 312                 return AltosConvert.pressure_to_altitude(p);
 313         }
 314
 315         private AltosCValue ground_altitude;
 316
 317         public double ground_altitude() {
 318                 return ground_altitude.value();
 319         }
 320
 321         public void set_ground_altitude(double a) {
 322                 ground_altitude.set_measured(a, time);
 323         }
 324
 325         class AltosGpsGroundAltitude extends AltosValue {
 326                 void set(double a, double t) {
 327                         super.set(a, t);
 328                         pad_alt = value();
 329                         gps_altitude.set_gps_height();
 330                 }
 331
 332                 void set_filtered(double a, double t) {
 333                         super.set_filtered(a, t);
 334                         pad_alt = value();
 335                         gps_altitude.set_gps_height();
 336                 }
 337
 338                 AltosGpsGroundAltitude() {
 339                         super();
 340                 }
 341         }
 342
 343         private AltosGpsGroundAltitude gps_ground_altitude;
 344
 345         public double gps_ground_altitude() {
 346                 return gps_ground_altitude.value();
 347         }
 348
 349         public void set_gps_ground_altitude(double a) {
 350                 gps_ground_altitude.set(a, time);
 351         }
 352
 353         class AltosGroundPressure extends AltosCValue {
 354                 void set_filtered(double p, double time) {
 355                         computed.set_filtered(p, time);
 356                         if (!is_measured())
 357                                 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
 358                 }
 359
 360                 void set_measured(double p, double time) {
 361                         super.set_measured(p, time);
 362                         ground_altitude.set_computed(pressure_to_altitude(p), time);
 363                 }
 364
 365                 AltosGroundPressure () {
 366                         super();
 367                 }
 368         }
 369
 370         private AltosGroundPressure ground_pressure;
 371
 372         public double ground_pressure() {
 373                 return ground_pressure.value();
 374         }
 375
 376         public void set_ground_pressure (double pressure) {
 377                 ground_pressure.set_measured(pressure, time);
 378         }
 379
 380         class AltosAltitude extends AltosCValue {
 381
 382                 private void set_speed(AltosValue v) {
 383                         if (!acceleration.is_measured() || !ascent)
 384                                 speed.set_derivative(this);
 385                 }
 386
 387                 void set_computed(double a, double time) {
 388                         super.set_computed(a,time);
 389                         set_speed(computed);
 390                         set |= set_position;
 391                 }
 392
 393                 void set_measured(double a, double time) {
 394                         super.set_measured(a,time);
 395                         set_speed(measured);
 396                         set |= set_position;
 397                 }
 398
 399                 AltosAltitude() {
 400                         super();
 401                 }
 402         }
 403
 404         private AltosAltitude   altitude;
 405
 406         class AltosGpsAltitude extends AltosValue {
 407
 408                 private void set_gps_height() {
 409                         double  a = value();
 410                         double  g = gps_ground_altitude.value();
 411
 412                         if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 413                                 gps_height = a - g;
 414                         else
 415                                 gps_height = AltosLib.MISSING;
 416                 }
 417
 418                 void set(double a, double t) {
 419                         super.set(a, t);
 420                         set_gps_height();
 421                 }
 422
 423                 AltosGpsAltitude() {
 424                         super();
 425                 }
 426         }
 427
 428         private AltosGpsAltitude        gps_altitude;
 429
 430         private AltosValue              gps_ground_speed;
 431         private AltosValue              gps_ascent_rate;
 432         private AltosValue              gps_course;
 433         private AltosValue              gps_speed;
 434
 435         public double altitude() {
 436                 double a = altitude.value();
 437                 if (a != AltosLib.MISSING)
 438                         return a;
 439                 return gps_altitude.value();
 440         }
 441
 442         public double max_altitude() {
 443                 double a = altitude.max();
 444                 if (a != AltosLib.MISSING)
 445                         return a;
 446                 return gps_altitude.max();
 447         }
 448
 449         public void set_altitude(double new_altitude) {
 450                 altitude.set_measured(new_altitude, time);
 451         }
 452
 453         public double gps_altitude() {
 454                 return gps_altitude.value();
 455         }
 456
 457         public double max_gps_altitude() {
 458                 return gps_altitude.max();
 459         }
 460
 461         public void set_gps_altitude(double new_gps_altitude) {
 462                 gps_altitude.set(new_gps_altitude, time);
 463         }
 464
 465         public double gps_ground_speed() {
 466                 return gps_ground_speed.value();
 467         }
 468
 469         public double max_gps_ground_speed() {
 470                 return gps_ground_speed.max();
 471         }
 472
 473         public double gps_ascent_rate() {
 474                 return gps_ascent_rate.value();
 475         }
 476
 477         public double max_gps_ascent_rate() {
 478                 return gps_ascent_rate.max();
 479         }
 480
 481         public double gps_course() {
 482                 return gps_course.value();
 483         }
 484
 485         public double gps_speed() {
 486                 return gps_speed.value();
 487         }
 488
 489         public double max_gps_speed() {
 490                 return gps_speed.max();
 491         }
 492
 493         class AltosPressure extends AltosValue {
 494                 void set(double p, double time) {
 495                         super.set(p, time);
 496                         if (state == AltosLib.ao_flight_pad)
 497                                 ground_pressure.set_filtered(p, time);
 498                         double a = pressure_to_altitude(p);
 499                         altitude.set_computed(a, time);
 500                 }
 501
 502                 AltosPressure() {
 503                         super();
 504                 }
 505         }
 506
 507         private AltosPressure   pressure;
 508
 509         public double pressure() {
 510                 return pressure.value();
 511         }
 512
 513         public void set_pressure(double p) {
 514                 pressure.set(p, time);
 515         }
 516
 517         public double baro_height() {
 518                 double a = altitude();
 519                 double g = ground_altitude();
 520                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 521                         return a - g;
 522                 return AltosLib.MISSING;
 523         }
 524
 525         public double height() {
 526                 double k = kalman_height.value();
 527                 if (k != AltosLib.MISSING)
 528                         return k;
 529
 530                 double b = baro_height();
 531                 if (b != AltosLib.MISSING)
 532                         return b;
 533
 534                 return gps_height();
 535         }
 536
 537         public double max_height() {
 538                 double  k = kalman_height.max();
 539                 if (k != AltosLib.MISSING)
 540                         return k;
 541
 542                 double a = altitude.max();
 543                 double g = ground_altitude();
 544                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 545                         return a - g;
 546                 return max_gps_height();
 547         }
 548
 549         public double gps_height() {
 550                 double a = gps_altitude();
 551                 double g = gps_ground_altitude();
 552
 553                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 554                         return a - g;
 555                 return AltosLib.MISSING;
 556         }
 557
 558         public double max_gps_height() {
 559                 double a = gps_altitude.max();
 560                 double g = gps_ground_altitude();
 561
 562                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 563                         return a - g;
 564                 return AltosLib.MISSING;
 565         }
 566
 567         class AltosSpeed extends AltosCValue {
 568
 569                 boolean can_max() {
 570                         return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
 571                 }
 572
 573                 void set_accel() {
 574                         acceleration.set_derivative(this);
 575                 }
 576
 577                 void set_derivative(AltosCValue in) {
 578                         super.set_derivative(in);
 579                         set_accel();
 580                 }
 581
 582                 void set_computed(double new_value, double time) {
 583                         super.set_computed(new_value, time);
 584                         set_accel();
 585                 }
 586
 587                 void set_measured(double new_value, double time) {
 588                         super.set_measured(new_value, time);
 589                         set_accel();
 590                 }
 591
 592                 AltosSpeed() {
 593                         super();
 594                 }
 595         }
 596
 597         private AltosSpeed speed;
 598
 599         public double speed() {
 600                 double v = kalman_speed.value();
 601                 if (v != AltosLib.MISSING)
 602                         return v;
 603                 v = speed.value();
 604                 if (v != AltosLib.MISSING)
 605                         return v;
 606                 v = gps_speed();
 607                 if (v != AltosLib.MISSING)
 608                         return v;
 609                 return AltosLib.MISSING;
 610         }
 611
 612         public double max_speed() {
 613                 double v = kalman_speed.max();
 614                 if (v != AltosLib.MISSING)
 615                         return v;
 616                 v = speed.max();
 617                 if (v != AltosLib.MISSING)
 618                         return v;
 619                 v = max_gps_speed();
 620                 if (v != AltosLib.MISSING)
 621                         return v;
 622                 return AltosLib.MISSING;
 623         }
 624
 625         class AltosAccel extends AltosCValue {
 626
 627                 boolean can_max() {
 628                         return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
 629                 }
 630
 631                 void set_measured(double a, double time) {
 632                         super.set_measured(a, time);
 633                         if (ascent)
 634                                 speed.set_integral(this.measured);
 635                 }
 636
 637                 AltosAccel() {
 638                         super();
 639                 }
 640         }
 641
 642         AltosAccel acceleration;
 643
 644         public double acceleration() {
 645                 return acceleration.value();
 646         }
 647
 648         public double max_acceleration() {
 649                 return acceleration.max();
 650         }
 651
 652         public AltosCValue      orient;
 653
 654         public void set_orient(double new_orient) {
 655                 orient.set_measured(new_orient, time);
 656         }
 657
 658         public double orient() {
 659                 return orient.value();
 660         }
 661
 662         public double max_orient() {
 663                 return orient.max();
 664         }
 665
 666         public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 667
 668         public void set_kalman(double height, double speed, double acceleration) {
 669                 kalman_height.set(height, time);
 670                 kalman_speed.set(speed, time);
 671                 kalman_acceleration.set(acceleration, time);
 672         }
 673
 674         public double   battery_voltage;
 675         public double   pyro_voltage;
 676         public double   temperature;
 677         public double   apogee_voltage;
 678         public double   main_voltage;
 679
 680         public double   ignitor_voltage[];
 681
 682         public AltosGPS gps;
 683         public AltosGPS temp_gps;
 684         public int temp_gps_sat_tick;
 685         public boolean  gps_pending;
 686         public int gps_sequence;
 687
 688         public AltosIMU imu;
 689         public AltosMag mag;
 690
 691         public static final int MIN_PAD_SAMPLES = 10;
 692
 693         public int      npad;
 694         public int      gps_waiting;
 695         public boolean  gps_ready;
 696
 697         public int      ngps;
 698
 699         public AltosGreatCircle from_pad;
 700         public double   elevation;      /* from pad */
 701         public double   range;          /* total distance */
 702
 703         public double   gps_height;
 704
 705         public double pad_lat, pad_lon, pad_alt;
 706
 707         public int      speak_tick;
 708         public double   speak_altitude;
 709
 710         public String   callsign;
 711         public String   firmware_version;
 712
 713         public double   accel_plus_g;
 714         public double   accel_minus_g;
 715         public double   accel;
 716         public double   ground_accel;
 717         public double   ground_accel_avg;
 718
 719         public int      log_format;
 720         public int      log_space;
 721         public String   product;
 722
 723         public AltosMs5607      baro;
 724
 725         public AltosCompanion   companion;
 726
 727         public int      pyro_fired;
 728
 729         public void set_npad(int npad) {
 730                 this.npad = npad;
 731                 gps_waiting = MIN_PAD_SAMPLES - npad;
 732                 if (this.gps_waiting < 0)
 733                         gps_waiting = 0;
 734                 gps_ready = gps_waiting == 0;
 735         }
 736
 737         public void init() {
 738                 set = 0;
 739
 740                 received_time = System.currentTimeMillis();
 741                 time = AltosLib.MISSING;
 742                 time_change = AltosLib.MISSING;
 743                 prev_time = AltosLib.MISSING;
 744                 tick = AltosLib.MISSING;
 745                 prev_tick = AltosLib.MISSING;
 746                 boost_tick = AltosLib.MISSING;
 747                 state = AltosLib.ao_flight_invalid;
 748                 flight = AltosLib.MISSING;
 749                 landed = false;
 750                 boost = false;
 751                 rssi = AltosLib.MISSING;
 752                 status = 0;
 753                 device_type = AltosLib.MISSING;
 754                 config_major = AltosLib.MISSING;
 755                 config_minor = AltosLib.MISSING;
 756                 apogee_delay = AltosLib.MISSING;
 757                 main_deploy = AltosLib.MISSING;
 758                 flight_log_max = AltosLib.MISSING;
 759
 760                 ground_altitude = new AltosCValue();
 761                 ground_pressure = new AltosGroundPressure();
 762                 altitude = new AltosAltitude();
 763                 pressure = new AltosPressure();
 764                 speed = new AltosSpeed();
 765                 acceleration = new AltosAccel();
 766                 orient = new AltosCValue();
 767
 768                 temperature = AltosLib.MISSING;
 769                 battery_voltage = AltosLib.MISSING;
 770                 pyro_voltage = AltosLib.MISSING;
 771                 apogee_voltage = AltosLib.MISSING;
 772                 main_voltage = AltosLib.MISSING;
 773                 ignitor_voltage = null;
 774
 775                 kalman_height = new AltosValue();
 776                 kalman_speed = new AltosValue();
 777                 kalman_acceleration = new AltosValue();
 778
 779                 gps = null;
 780                 temp_gps = null;
 781                 temp_gps_sat_tick = 0;
 782                 gps_sequence = 0;
 783                 gps_pending = false;
 784
 785                 imu = null;
 786                 last_imu_time = AltosLib.MISSING;
 787                 rotation = null;
 788                 ground_rotation = null;
 789
 790                 mag = null;
 791                 accel_zero_along = AltosLib.MISSING;
 792                 accel_zero_across = AltosLib.MISSING;
 793                 accel_zero_through = AltosLib.MISSING;
 794
 795                 accel_ground_along = AltosLib.MISSING;
 796                 accel_ground_across = AltosLib.MISSING;
 797                 accel_ground_through = AltosLib.MISSING;
 798
 799                 pad_orientation = AltosLib.MISSING;
 800
 801                 gyro_zero_roll = AltosLib.MISSING;
 802                 gyro_zero_pitch = AltosLib.MISSING;
 803                 gyro_zero_yaw = AltosLib.MISSING;
 804
 805                 set_npad(0);
 806                 ngps = 0;
 807
 808                 from_pad = null;
 809                 elevation = AltosLib.MISSING;
 810                 range = AltosLib.MISSING;
 811                 gps_height = AltosLib.MISSING;
 812
 813                 pad_lat = AltosLib.MISSING;
 814                 pad_lon = AltosLib.MISSING;
 815                 pad_alt = AltosLib.MISSING;
 816
 817                 gps_altitude = new AltosGpsAltitude();
 818                 gps_ground_altitude = new AltosGpsGroundAltitude();
 819                 gps_ground_speed = new AltosValue();
 820                 gps_speed = new AltosValue();
 821                 gps_ascent_rate = new AltosValue();
 822                 gps_course = new AltosValue();
 823
 824                 speak_tick = AltosLib.MISSING;
 825                 speak_altitude = AltosLib.MISSING;
 826
 827                 callsign = null;
 828                 firmware_version = null;
 829
 830                 accel_plus_g = AltosLib.MISSING;
 831                 accel_minus_g = AltosLib.MISSING;
 832                 accel = AltosLib.MISSING;
 833
 834                 ground_accel = AltosLib.MISSING;
 835                 ground_accel_avg = AltosLib.MISSING;
 836
 837                 log_format = AltosLib.MISSING;
 838                 log_space = AltosLib.MISSING;
 839                 product = null;
 840                 serial = AltosLib.MISSING;
 841                 receiver_serial = AltosLib.MISSING;
 842                 altitude_32 = AltosLib.MISSING;
 843
 844                 baro = null;
 845                 companion = null;
 846
 847                 pyro_fired = 0;
 848         }
 849
 850         void finish_update() {
 851                 prev_tick = tick;
 852
 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 copy(AltosState old) {
 866
 867                 if (old == null) {
 868                         init();
 869                         return;
 870                 }
 871
 872                 received_time = old.received_time;
 873                 time = old.time;
 874                 time_change = old.time_change;
 875                 prev_time = old.time;
 876
 877                 tick = old.tick;
 878                 prev_tick = old.tick;
 879                 boost_tick = old.boost_tick;
 880
 881                 state = old.state;
 882                 flight = old.flight;
 883                 landed = old.landed;
 884                 ascent = old.ascent;
 885                 boost = old.boost;
 886                 rssi = old.rssi;
 887                 status = old.status;
 888                 device_type = old.device_type;
 889                 config_major = old.config_major;
 890                 config_minor = old.config_minor;
 891                 apogee_delay = old.apogee_delay;
 892                 main_deploy = old.main_deploy;
 893                 flight_log_max = old.flight_log_max;
 894
 895                 set = 0;
 896
 897                 ground_pressure.copy(old.ground_pressure);
 898                 ground_altitude.copy(old.ground_altitude);
 899                 altitude.copy(old.altitude);
 900                 pressure.copy(old.pressure);
 901                 speed.copy(old.speed);
 902                 acceleration.copy(old.acceleration);
 903                 orient.copy(old.orient);
 904
 905                 battery_voltage = old.battery_voltage;
 906                 pyro_voltage = old.pyro_voltage;
 907                 temperature = old.temperature;
 908                 apogee_voltage = old.apogee_voltage;
 909                 main_voltage = old.main_voltage;
 910                 ignitor_voltage = old.ignitor_voltage;
 911
 912                 kalman_height.copy(old.kalman_height);
 913                 kalman_speed.copy(old.kalman_speed);
 914                 kalman_acceleration.copy(old.kalman_acceleration);
 915
 916                 if (old.gps != null)
 917                         gps = old.gps.clone();
 918                 else
 919                         gps = null;
 920                 if (old.temp_gps != null)
 921                         temp_gps = old.temp_gps.clone();
 922                 else
 923                         temp_gps = null;
 924                 temp_gps_sat_tick = old.temp_gps_sat_tick;
 925                 gps_sequence = old.gps_sequence;
 926                 gps_pending = old.gps_pending;
 927
 928                 if (old.imu != null)
 929                         imu = old.imu.clone();
 930                 else
 931                         imu = null;
 932                 last_imu_time = old.last_imu_time;
 933
 934                 if (old.rotation != null)
 935                         rotation = new AltosRotation (old.rotation);
 936
 937                 if (old.ground_rotation != null) {
 938                         ground_rotation = new AltosRotation(old.ground_rotation);
 939                 }
 940
 941                 accel_zero_along = old.accel_zero_along;
 942                 accel_zero_across = old.accel_zero_across;
 943                 accel_zero_through = old.accel_zero_through;
 944
 945                 accel_ground_along = old.accel_ground_along;
 946                 accel_ground_across = old.accel_ground_across;
 947                 accel_ground_through = old.accel_ground_through;
 948                 pad_orientation = old.pad_orientation;
 949
 950                 gyro_zero_roll = old.gyro_zero_roll;
 951                 gyro_zero_pitch = old.gyro_zero_pitch;
 952                 gyro_zero_yaw = old.gyro_zero_yaw;
 953
 954                 if (old.mag != null)
 955                         mag = old.mag.clone();
 956                 else
 957                         mag = null;
 958
 959                 npad = old.npad;
 960                 gps_waiting = old.gps_waiting;
 961                 gps_ready = old.gps_ready;
 962                 ngps = old.ngps;
 963
 964                 if (old.from_pad != null)
 965                         from_pad = old.from_pad.clone();
 966                 else
 967                         from_pad = null;
 968
 969                 elevation = old.elevation;
 970                 range = old.range;
 971
 972                 gps_height = old.gps_height;
 973
 974                 gps_altitude.copy(old.gps_altitude);
 975                 gps_ground_altitude.copy(old.gps_ground_altitude);
 976                 gps_ground_speed.copy(old.gps_ground_speed);
 977                 gps_ascent_rate.copy(old.gps_ascent_rate);
 978                 gps_course.copy(old.gps_course);
 979                 gps_speed.copy(old.gps_speed);
 980
 981                 pad_lat = old.pad_lat;
 982                 pad_lon = old.pad_lon;
 983                 pad_alt = old.pad_alt;
 984
 985                 speak_tick = old.speak_tick;
 986                 speak_altitude = old.speak_altitude;
 987
 988                 callsign = old.callsign;
 989                 firmware_version = old.firmware_version;
 990
 991                 accel_plus_g = old.accel_plus_g;
 992                 accel_minus_g = old.accel_minus_g;
 993                 accel = old.accel;
 994                 ground_accel = old.ground_accel;
 995                 ground_accel_avg = old.ground_accel_avg;
 996
 997                 log_format = old.log_format;
 998                 log_space = old.log_space;
 999                 product = old.product;
1000                 serial = old.serial;
1001                 receiver_serial = old.receiver_serial;
1002                 altitude_32 = old.altitude_32;
1003
1004                 baro = old.baro;
1005                 companion = old.companion;
1006
1007                 pyro_fired = old.pyro_fired;
1008         }
1009
1010         void update_time() {
1011         }
1012
1013         void update_gps() {
1014                 elevation = AltosLib.MISSING;
1015                 range = AltosLib.MISSING;
1016
1017                 if (gps == null)
1018                         return;
1019
1020                 if (gps.locked && gps.nsat >= 4) {
1021                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
1022                         if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) {
1023                                 set_npad(npad+1);
1024                                 if (pad_lat != AltosLib.MISSING && (npad < 10 || state == AltosLib.ao_flight_pad)) {
1025                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
1026                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
1027                                         gps_ground_altitude.set_filtered(gps.alt, time);
1028                                 }
1029                         }
1030                         if (pad_lat == AltosLib.MISSING) {
1031                                 pad_lat = gps.lat;
1032                                 pad_lon = gps.lon;
1033                                 gps_ground_altitude.set(gps.alt, time);
1034                         }
1035                         gps_altitude.set(gps.alt, time);
1036                         if (gps.climb_rate != AltosLib.MISSING)
1037                                 gps_ascent_rate.set(gps.climb_rate, time);
1038                         if (gps.ground_speed != AltosLib.MISSING)
1039                                 gps_ground_speed.set(gps.ground_speed, time);
1040                         if (gps.climb_rate != AltosLib.MISSING && gps.ground_speed != AltosLib.MISSING)
1041                                 gps_speed.set(Math.sqrt(gps.ground_speed * gps.ground_speed +
1042                                                         gps.climb_rate * gps.climb_rate), time);
1043                         if (gps.course != AltosLib.MISSING)
1044                                 gps_course.set(gps.course, time);
1045                 }
1046                 if (gps.lat != 0 && gps.lon != 0 &&
1047                     pad_lat != AltosLib.MISSING &&
1048                     pad_lon != AltosLib.MISSING)
1049                 {
1050                         double h = height();
1051
1052                         if (h == AltosLib.MISSING)
1053                                 h = 0;
1054                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
1055                         elevation = from_pad.elevation;
1056                         range = from_pad.range;
1057                 }
1058         }
1059
1060         public void set_tick(int new_tick) {
1061                 if (new_tick != AltosLib.MISSING) {
1062                         if (prev_tick != AltosLib.MISSING) {
1063                                 while (new_tick < prev_tick - 1000) {
1064                                         new_tick += 65536;
1065                                 }
1066                         }
1067                         tick = new_tick;
1068                         time = tick / 100.0;
1069                         time_change = time - prev_time;
1070                 }
1071         }
1072
1073         public void set_boost_tick(int boost_tick) {
1074                 if (boost_tick != AltosLib.MISSING)
1075                         this.boost_tick = boost_tick;
1076         }
1077
1078         public String state_name() {
1079                 return AltosLib.state_name(state);
1080         }
1081
1082         public void set_product(String product) {
1083                 this.product = product;
1084         }
1085
1086         public void set_state(int state) {
1087                 if (state != AltosLib.ao_flight_invalid) {
1088                         this.state = state;
1089                         ascent = (AltosLib.ao_flight_boost <= state &&
1090                                   state <= AltosLib.ao_flight_coast);
1091                         boost = (AltosLib.ao_flight_boost == state);
1092                 }
1093         }
1094
1095         public int state() {
1096                 return state;
1097         }
1098
1099         public void set_device_type(int device_type) {
1100                 this.device_type = device_type;
1101                 switch (device_type) {
1102                 case AltosLib.product_telegps:
1103                         this.state = AltosLib.ao_flight_stateless;
1104                         break;
1105                 }
1106         }
1107
1108         public void set_log_format(int log_format) {
1109                 this.log_format = log_format;
1110                 switch (log_format) {
1111                 case AltosLib.AO_LOG_FORMAT_TELEGPS:
1112                         this.state = AltosLib.ao_flight_stateless;
1113                         break;
1114                 }
1115         }
1116
1117         public void set_log_space(int log_space) {
1118                 this.log_space = log_space;
1119         }
1120
1121         public void set_flight_params(int apogee_delay, int main_deploy) {
1122                 this.apogee_delay = apogee_delay;
1123                 this.main_deploy = main_deploy;
1124         }
1125
1126         public void set_config(int major, int minor, int flight_log_max) {
1127                 config_major = major;
1128                 config_minor = minor;
1129                 this.flight_log_max = flight_log_max;
1130         }
1131
1132         public void set_callsign(String callsign) {
1133                 this.callsign = callsign;
1134         }
1135
1136         public void set_firmware_version(String version) {
1137                 firmware_version = version;
1138         }
1139
1140         public int compare_version(String other_version) {
1141                 if (firmware_version == null)
1142                         return AltosLib.MISSING;
1143                 return AltosLib.compare_version(firmware_version, other_version);
1144         }
1145
1146         private void re_init() {
1147                 int bt = boost_tick;
1148                 int rs = receiver_serial;
1149                 init();
1150                 boost_tick = bt;
1151                 receiver_serial = rs;
1152         }
1153
1154         public void set_flight(int flight) {
1155
1156                 /* When the flight changes, reset the state */
1157                 if (flight != AltosLib.MISSING) {
1158                         if (this.flight != AltosLib.MISSING &&
1159                             this.flight != flight) {
1160                                 re_init();
1161                         }
1162                         this.flight = flight;
1163                 }
1164         }
1165
1166         public void set_serial(int serial) {
1167                 /* When the serial changes, reset the state */
1168                 if (serial != AltosLib.MISSING) {
1169                         if (this.serial != AltosLib.MISSING &&
1170                             this.serial != serial) {
1171                                 re_init();
1172                         }
1173                         this.serial = serial;
1174                 }
1175         }
1176
1177         public void set_receiver_serial(int serial) {
1178                 if (serial != AltosLib.MISSING)
1179                         receiver_serial = serial;
1180         }
1181
1182         public boolean altitude_32() {
1183                 return altitude_32 == 1;
1184         }
1185
1186         public void set_altitude_32(int altitude_32) {
1187                 if (altitude_32 != AltosLib.MISSING)
1188                         this.altitude_32 = altitude_32;
1189         }
1190
1191         public int rssi() {
1192                 if (rssi == AltosLib.MISSING)
1193                         return 0;
1194                 return rssi;
1195         }
1196
1197         public void set_rssi(int rssi, int status) {
1198                 if (rssi != AltosLib.MISSING) {
1199                         this.rssi = rssi;
1200                         this.status = status;
1201                 }
1202         }
1203
1204         public void set_received_time(long ms) {
1205                 received_time = ms;
1206         }
1207
1208         public void set_gps(AltosGPS gps, int sequence) {
1209                 if (gps != null) {
1210                         this.gps = gps.clone();
1211                         gps_sequence = sequence;
1212                         update_gps();
1213                         set |= set_gps;
1214                 }
1215         }
1216
1217
1218         public double   accel_zero_along;
1219         public double   accel_zero_across;
1220         public double   accel_zero_through;
1221
1222         public AltosRotation    rotation;
1223         public AltosRotation    ground_rotation;
1224
1225         public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
1226                 if (zero_along != AltosLib.MISSING) {
1227                         accel_zero_along = zero_along;
1228                         accel_zero_across = zero_across;
1229                         accel_zero_through = zero_through;
1230                 }
1231         }
1232
1233         public int pad_orientation;
1234
1235         public double   accel_ground_along, accel_ground_across, accel_ground_through;
1236
1237         void update_pad_rotation() {
1238                 if (pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
1239                         rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - accel_zero_across),
1240                                                      AltosIMU.convert_accel(accel_ground_through - accel_zero_through),
1241                                                      AltosIMU.convert_accel(accel_ground_along - accel_zero_along),
1242                                                      pad_orientation);
1243                         ground_rotation = rotation;
1244                         orient.set_computed(rotation.tilt(), time);
1245                 }
1246         }
1247
1248         public void set_accel_ground(double ground_along, double ground_across, double ground_through) {
1249                 accel_ground_along = ground_along;
1250                 accel_ground_across = ground_across;
1251                 accel_ground_through = ground_through;
1252                 update_pad_rotation();
1253         }
1254
1255         public void set_pad_orientation(int pad_orientation) {
1256                 this.pad_orientation = pad_orientation;
1257                 update_pad_rotation();
1258         }
1259
1260         public double   gyro_zero_roll;
1261         public double   gyro_zero_pitch;
1262         public double   gyro_zero_yaw;
1263
1264         public void set_gyro_zero(double roll, double pitch, double yaw) {
1265                 if (roll != AltosLib.MISSING) {
1266                         gyro_zero_roll = roll;
1267                         gyro_zero_pitch = pitch;
1268                         gyro_zero_yaw = yaw;
1269                 }
1270         }
1271
1272         public double   last_imu_time;
1273
1274         private double radians(double degrees) {
1275                 if (degrees == AltosLib.MISSING)
1276                         return AltosLib.MISSING;
1277                 return degrees * Math.PI / 180.0;
1278         }
1279
1280         private void update_orient() {
1281                 if (last_imu_time != AltosLib.MISSING) {
1282                         double  t = time - last_imu_time;
1283
1284                         double  pitch = radians(gyro_pitch());
1285                         double  yaw = radians(gyro_yaw());
1286                         double  roll = radians(gyro_roll());
1287
1288                         if (t > 0 & pitch != AltosLib.MISSING && rotation != null) {
1289                                 rotation.rotate(t, pitch, yaw, roll);
1290                                 orient.set_computed(rotation.tilt(), time);
1291                         }
1292                 }
1293                 last_imu_time = time;
1294         }
1295
1296         public void set_imu(AltosIMU imu) {
1297                 if (imu != null)
1298                         imu = imu.clone();
1299                 this.imu = imu;
1300                 update_orient();
1301         }
1302
1303         private double gyro_zero_overflow(double first) {
1304                 double v = first / 128.0;
1305                 if (v < 0)
1306                         v = Math.ceil(v);
1307                 else
1308                         v = Math.floor(v);
1309                 return v * 128.0;
1310         }
1311
1312         public void check_imu_wrap(AltosIMU imu) {
1313                 if (this.imu == null) {
1314                         gyro_zero_roll += gyro_zero_overflow(imu.gyro_roll);
1315                         gyro_zero_pitch += gyro_zero_overflow(imu.gyro_pitch);
1316                         gyro_zero_yaw += gyro_zero_overflow(imu.gyro_yaw);
1317                 }
1318         }
1319
1320         public double accel_along() {
1321                 if (imu != null && accel_zero_along != AltosLib.MISSING)
1322                         return AltosIMU.convert_accel(imu.accel_along - accel_zero_along);
1323                 return AltosLib.MISSING;
1324         }
1325
1326         public double accel_across() {
1327                 if (imu != null && accel_zero_across != AltosLib.MISSING)
1328                         return AltosIMU.convert_accel(imu.accel_across - accel_zero_across);
1329                 return AltosLib.MISSING;
1330         }
1331
1332         public double accel_through() {
1333                 if (imu != null && accel_zero_through != AltosLib.MISSING)
1334                         return AltosIMU.convert_accel(imu.accel_through - accel_zero_through);
1335                 return AltosLib.MISSING;
1336         }
1337
1338         public double gyro_roll() {
1339                 if (imu != null && gyro_zero_roll != AltosLib.MISSING) {
1340                         return AltosIMU.convert_gyro(imu.gyro_roll - gyro_zero_roll);
1341                 }
1342                 return AltosLib.MISSING;
1343         }
1344
1345         public double gyro_pitch() {
1346                 if (imu != null && gyro_zero_pitch != AltosLib.MISSING) {
1347                         return AltosIMU.convert_gyro(imu.gyro_pitch - gyro_zero_pitch);
1348                 }
1349                 return AltosLib.MISSING;
1350         }
1351
1352         public double gyro_yaw() {
1353                 if (imu != null && gyro_zero_yaw != AltosLib.MISSING) {
1354                         return AltosIMU.convert_gyro(imu.gyro_yaw - gyro_zero_yaw);
1355                 }
1356                 return AltosLib.MISSING;
1357         }
1358
1359         public void set_mag(AltosMag mag) {
1360                 this.mag = mag.clone();
1361         }
1362
1363         public double mag_along() {
1364                 if (mag != null)
1365                         return AltosMag.convert_gauss(mag.along);
1366                 return AltosLib.MISSING;
1367         }
1368
1369         public double mag_across() {
1370                 if (mag != null)
1371                         return AltosMag.convert_gauss(mag.across);
1372                 return AltosLib.MISSING;
1373         }
1374
1375         public double mag_through() {
1376                 if (mag != null)
1377                         return AltosMag.convert_gauss(mag.through);
1378                 return AltosLib.MISSING;
1379         }
1380
1381         public AltosMs5607 make_baro() {
1382                 if (baro == null)
1383                         baro = new AltosMs5607();
1384                 return baro;
1385         }
1386
1387         public void set_ms5607(AltosMs5607 ms5607) {
1388                 baro = ms5607;
1389
1390                 if (baro != null) {
1391                         set_pressure(baro.pa);
1392                         set_temperature(baro.cc / 100.0);
1393                 }
1394         }
1395
1396         public void set_ms5607(int pres, int temp) {
1397                 if (baro != null) {
1398                         baro.set(pres, temp);
1399
1400                         set_pressure(baro.pa);
1401                         set_temperature(baro.cc / 100.0);
1402                 }
1403         }
1404
1405         public void set_companion(AltosCompanion companion) {
1406                 this.companion = companion;
1407         }
1408
1409         void update_accel() {
1410                 if (accel == AltosLib.MISSING)
1411                         return;
1412                 if (accel_plus_g == AltosLib.MISSING)
1413                         return;
1414                 if (accel_minus_g == AltosLib.MISSING)
1415                         return;
1416
1417                 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
1418                 double counts_per_mss = counts_per_g / 9.80665;
1419                 acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
1420         }
1421
1422         public void set_accel_g(double accel_plus_g, double accel_minus_g) {
1423                 if (accel_plus_g != AltosLib.MISSING) {
1424                         this.accel_plus_g = accel_plus_g;
1425                         this.accel_minus_g = accel_minus_g;
1426                         update_accel();
1427                 }
1428         }
1429
1430         public void set_ground_accel(double ground_accel) {
1431                 if (ground_accel != AltosLib.MISSING)
1432                         this.ground_accel = ground_accel;
1433         }
1434
1435         public void set_accel(double accel) {
1436                 if (accel != AltosLib.MISSING) {
1437                         this.accel = accel;
1438                         if (state == AltosLib.ao_flight_pad) {
1439                                 if (ground_accel_avg == AltosLib.MISSING)
1440                                         ground_accel_avg = accel;
1441                                 else
1442                                         ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
1443                         }
1444                 }
1445                 update_accel();
1446         }
1447
1448         public void set_temperature(double temperature) {
1449                 if (temperature != AltosLib.MISSING) {
1450                         this.temperature = temperature;
1451                         set |= set_data;
1452                 }
1453         }
1454
1455         public void set_battery_voltage(double battery_voltage) {
1456                 if (battery_voltage != AltosLib.MISSING) {
1457                         this.battery_voltage = battery_voltage;
1458                         set |= set_data;
1459                 }
1460         }
1461
1462         public void set_pyro_voltage(double pyro_voltage) {
1463                 if (pyro_voltage != AltosLib.MISSING) {
1464                         this.pyro_voltage = pyro_voltage;
1465                         set |= set_data;
1466                 }
1467         }
1468
1469         public void set_apogee_voltage(double apogee_voltage) {
1470                 if (apogee_voltage != AltosLib.MISSING) {
1471                         this.apogee_voltage = apogee_voltage;
1472                         set |= set_data;
1473                 }
1474         }
1475
1476         public void set_main_voltage(double main_voltage) {
1477                 if (main_voltage != AltosLib.MISSING) {
1478                         this.main_voltage = main_voltage;
1479                         set |= set_data;
1480                 }
1481         }
1482
1483         public void set_ignitor_voltage(double[] voltage) {
1484                 this.ignitor_voltage = voltage;
1485         }
1486
1487         public void set_pyro_fired(int fired) {
1488                 this.pyro_fired = fired;
1489         }
1490
1491         public double time_since_boost() {
1492                 if (tick == AltosLib.MISSING)
1493                         return 0.0;
1494
1495                 if (boost_tick == AltosLib.MISSING)
1496                         return tick / 100.0;
1497                 return (tick - boost_tick) / 100.0;
1498         }
1499
1500         public boolean valid() {
1501                 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1502         }
1503
1504         public AltosGPS make_temp_gps(boolean sats) {
1505                 if (temp_gps == null) {
1506                         temp_gps = new AltosGPS(gps);
1507                 }
1508                 gps_pending = true;
1509                 if (sats) {
1510                         if (tick != temp_gps_sat_tick)
1511                                 temp_gps.cc_gps_sat = null;
1512                         temp_gps_sat_tick = tick;
1513                 }
1514                 return temp_gps;
1515         }
1516
1517         public void set_temp_gps() {
1518                 set_gps(temp_gps, gps_sequence + 1);
1519                 gps_pending = false;
1520                 temp_gps = null;
1521         }
1522
1523         public AltosState clone() {
1524                 AltosState s = new AltosState();
1525                 s.copy(this);
1526
1527                 /* Code to test state save/restore. Enable only for that purpose
1528                  */
1529                 if (false) {
1530                         AltosJson       json = new AltosJson(this);
1531                         String          onetrip = json.toPrettyString();
1532                         AltosJson       back = AltosJson.fromString(onetrip);
1533                         AltosState      tripstate = (AltosState) back.make(this.getClass());
1534                         AltosJson       tripjson = new AltosJson(tripstate);
1535                         String          twotrip = tripjson.toPrettyString();
1536
1537                         if (!onetrip.equals(twotrip)) {
1538                                 try {
1539                                         FileWriter one_file = new FileWriter("one.json", true);
1540                                         one_file.write(onetrip);
1541                                         one_file.flush();
1542                                         FileWriter two_file = new FileWriter("two.json", true);
1543                                         two_file.write(twotrip);
1544                                         two_file.flush();
1545                                 } catch (Exception e) {
1546                                 }
1547                                 System.out.printf("json error\n");
1548                                 System.exit(1);
1549                         }
1550                 }
1551                 return s;
1552         }
1553
1554         public AltosState () {
1555                 init();
1556         }
1557 }