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   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_2;
  23
  24 public class AltosState implements Cloneable {
  25
  26         public static final int set_position = 1;
  27         public static final int set_gps = 2;
  28         public static final int set_data = 4;
  29
  30         public int set;
  31
  32         static final double ascent_filter_len = 0.1;
  33         static final double descent_filter_len = 2.0;
  34
  35         /* derived data */
  36
  37         public long     received_time;
  38
  39         public double   time;
  40         public double   prev_time;
  41         public double   time_change;
  42         public int      tick;
  43         private int     prev_tick;
  44         public int      boost_tick;
  45
  46         class AltosValue {
  47                 private double  value;
  48                 private double  prev_value;
  49                 private double  max_value;
  50                 private double  set_time;
  51                 private double  prev_set_time;
  52                 private double  max_rate = 1000.0;
  53
  54                 void set(double new_value, double time) {
  55                         if (new_value != AltosLib.MISSING) {
  56                                 value = new_value;
  57                                 if (max_value == AltosLib.MISSING || value > max_value) {
  58                                         max_value = value;
  59                                 }
  60                                 set_time = time;
  61                         }
  62                 }
  63
  64                 void set_filtered(double new_value, double time) {
  65                         if (prev_value != AltosLib.MISSING)
  66                                 new_value = (prev_value * 15.0 + new_value) / 16.0;
  67                         set(new_value, time);
  68                 }
  69
  70                 double value() {
  71                         return value;
  72                 }
  73
  74                 double max() {
  75                         return max_value;
  76                 }
  77
  78                 double prev() {
  79                         return prev_value;
  80                 }
  81
  82                 double change() {
  83                         if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
  84                                 return value - prev_value;
  85                         return AltosLib.MISSING;
  86                 }
  87
  88                 double rate() {
  89                         double c = change();
  90                         double t = set_time - prev_set_time;
  91
  92                         if (c != AltosLib.MISSING && t != 0)
  93                                 return c / t;
  94                         return AltosLib.MISSING;
  95                 }
  96
  97                 double integrate() {
  98                         if (value == AltosLib.MISSING)
  99                                 return AltosLib.MISSING;
 100                         if (prev_value == AltosLib.MISSING)
 101                                 return AltosLib.MISSING;
 102
 103                         return (value + prev_value) / 2 * (set_time - prev_set_time);
 104                 }
 105
 106                 double time() {
 107                         return set_time;
 108                 }
 109
 110                 void set_derivative(AltosValue in) {
 111                         double  n = in.rate();
 112
 113                         if (n == AltosLib.MISSING)
 114                                 return;
 115
 116                         double  p = prev_value;
 117                         double  pt = prev_set_time;
 118
 119                         if (p == AltosLib.MISSING) {
 120                                 p = 0;
 121                                 pt = in.time() - 0.01;
 122                         }
 123
 124                         /* Clip changes to reduce noise */
 125                         double  ddt = in.time() - pt;
 126                         double  ddv = (n - p) / ddt;
 127
 128                         /* 100gs */
 129                         if (Math.abs(ddv) > 1000) {
 130                                 if (n > p)
 131                                         n = p + ddt * 1000;
 132                                 else
 133                                         n = p - ddt * 1000;
 134                         }
 135
 136                         double filter_len;
 137
 138                         if (ascent)
 139                                 filter_len = ascent_filter_len;
 140                         else
 141                                 filter_len = descent_filter_len;
 142
 143                         double f = 1/Math.exp(ddt/ filter_len);
 144                         n = p * f + n * (1-f);
 145
 146                         set(n, in.time());
 147                 }
 148
 149                 void set_integral(AltosValue in) {
 150                         double  change = in.integrate();
 151
 152                         if (change != AltosLib.MISSING) {
 153                                 double  prev = prev_value;
 154                                 if (prev == AltosLib.MISSING)
 155                                         prev = 0;
 156                                 set(prev + change, in.time());
 157                         }
 158                 }
 159
 160                 void copy(AltosValue old) {
 161                         value = old.value;
 162                         set_time = old.set_time;
 163                         prev_value = old.value;
 164                         prev_set_time = old.set_time;
 165                         max_value = old.max_value;
 166                 }
 167
 168                 void finish_update() {
 169                         prev_value = value;
 170                         prev_set_time = set_time;
 171                 }
 172
 173                 AltosValue() {
 174                         value = AltosLib.MISSING;
 175                         prev_value = AltosLib.MISSING;
 176                         max_value = AltosLib.MISSING;
 177                 }
 178         }
 179
 180         class AltosCValue {
 181                 AltosValue      measured;
 182                 AltosValue      computed;
 183
 184                 double value() {
 185                         double v = measured.value();
 186                         if (v != AltosLib.MISSING)
 187                                 return v;
 188                         return computed.value();
 189                 }
 190
 191                 boolean is_measured() {
 192                         return measured.value() != AltosLib.MISSING;
 193                 }
 194
 195                 double max() {
 196                         double m = measured.max();
 197
 198                         if (m != AltosLib.MISSING)
 199                                 return m;
 200                         return computed.max();
 201                 }
 202
 203                 double prev_value() {
 204                         if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
 205                                 return measured.prev_value;
 206                         return computed.prev_value;
 207                 }
 208
 209                 AltosValue altos_value() {
 210                         if (measured.value() != AltosLib.MISSING)
 211                                 return measured;
 212                         return computed;
 213                 }
 214
 215                 double change() {
 216                         double c = measured.change();
 217                         if (c == AltosLib.MISSING)
 218                                 c = computed.change();
 219                         return c;
 220                 }
 221
 222                 double rate() {
 223                         double r = measured.rate();
 224                         if (r == AltosLib.MISSING)
 225                                 r = computed.rate();
 226                         return r;
 227                 }
 228
 229                 void set_measured(double new_value, double time) {
 230                         measured.set(new_value, time);
 231                 }
 232
 233                 void set_computed(double new_value, double time) {
 234                         computed.set(new_value, time);
 235                 }
 236
 237                 void set_derivative(AltosValue in) {
 238                         computed.set_derivative(in);
 239                 }
 240
 241                 void set_derivative(AltosCValue in) {
 242                         set_derivative(in.altos_value());
 243                 }
 244
 245                 void set_integral(AltosValue in) {
 246                         computed.set_integral(in);
 247                 }
 248
 249                 void set_integral(AltosCValue in) {
 250                         set_integral(in.altos_value());
 251                 }
 252
 253                 void copy(AltosCValue old) {
 254                         measured.copy(old.measured);
 255                         computed.copy(old.computed);
 256                 }
 257
 258                 void finish_update() {
 259                         measured.finish_update();
 260                         computed.finish_update();
 261                 }
 262
 263                 AltosCValue() {
 264                         measured = new AltosValue();
 265                         computed = new AltosValue();
 266                 }
 267         }
 268
 269         public int      state;
 270         public int      flight;
 271         public int      serial;
 272         public int      receiver_serial;
 273         public boolean  landed;
 274         public boolean  ascent; /* going up? */
 275         public boolean  boost;  /* under power */
 276         public int      rssi;
 277         public int      status;
 278         public int      device_type;
 279         public int      config_major;
 280         public int      config_minor;
 281         public int      apogee_delay;
 282         public int      main_deploy;
 283         public int      flight_log_max;
 284
 285         private double pressure_to_altitude(double p) {
 286                 if (p == AltosLib.MISSING)
 287                         return AltosLib.MISSING;
 288                 return AltosConvert.pressure_to_altitude(p);
 289         }
 290
 291         private AltosCValue ground_altitude;
 292
 293         public double ground_altitude() {
 294                 return ground_altitude.value();
 295         }
 296
 297         public void set_ground_altitude(double a) {
 298                 ground_altitude.set_measured(a, time);
 299         }
 300
 301         class AltosGroundPressure extends AltosCValue {
 302                 void set_filtered(double p, double time) {
 303                         computed.set_filtered(p, time);
 304                         ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
 305                 }
 306
 307                 void set_measured(double p, double time) {
 308                         super.set_measured(p, time);
 309                         ground_altitude.set_computed(pressure_to_altitude(p), time);
 310                 }
 311         }
 312
 313         private AltosGroundPressure ground_pressure;
 314
 315         public double ground_pressure() {
 316                 return ground_pressure.value();
 317         }
 318
 319         public void set_ground_pressure (double pressure) {
 320                 ground_pressure.set_measured(pressure, time);
 321         }
 322
 323         class AltosAltitude extends AltosCValue {
 324
 325                 private void set_speed(AltosValue v) {
 326                         if (!acceleration.is_measured() || !ascent)
 327                                 speed.set_derivative(this);
 328                 }
 329
 330                 void set_computed(double a, double time) {
 331                         super.set_computed(a,time);
 332                         set_speed(computed);
 333                         set |= set_position;
 334                 }
 335
 336                 void set_measured(double a, double time) {
 337                         super.set_measured(a,time);
 338                         set_speed(measured);
 339                         set |= set_position;
 340                 }
 341         }
 342
 343         private AltosAltitude   altitude;
 344
 345         public double altitude() {
 346                 double a = altitude.value();
 347                 if (a != AltosLib.MISSING)
 348                         return a;
 349                 if (gps != null)
 350                         return gps.alt;
 351                 return AltosLib.MISSING;
 352         }
 353
 354         public double max_altitude() {
 355                 double a = altitude.max();
 356                 if (a != AltosLib.MISSING)
 357                         return a;
 358                 return AltosLib.MISSING;
 359         }
 360
 361         public void set_altitude(double new_altitude) {
 362                 altitude.set_measured(new_altitude, time);
 363         }
 364
 365         class AltosPressure extends AltosValue {
 366                 void set(double p, double time) {
 367                         super.set(p, time);
 368                         if (state == AltosLib.ao_flight_pad)
 369                                 ground_pressure.set_filtered(p, time);
 370                         double a = pressure_to_altitude(p);
 371                         altitude.set_computed(a, time);
 372                 }
 373         }
 374
 375         private AltosPressure   pressure;
 376
 377         public double pressure() {
 378                 return pressure.value();
 379         }
 380
 381         public void set_pressure(double p) {
 382                 pressure.set(p, time);
 383         }
 384
 385         public double height() {
 386                 double k = kalman_height.value();
 387                 if (k != AltosLib.MISSING)
 388                         return k;
 389
 390                 double a = altitude();
 391                 double g = ground_altitude();
 392                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 393                         return a - g;
 394                 return AltosLib.MISSING;
 395         }
 396
 397         public double max_height() {
 398                 double  k = kalman_height.max();
 399                 if (k != AltosLib.MISSING)
 400                         return k;
 401
 402                 double a = altitude.max();
 403                 double g = ground_altitude();
 404                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 405                         return a - g;
 406                 return AltosLib.MISSING;
 407         }
 408
 409         class AltosSpeed extends AltosCValue {
 410
 411                 void set_accel() {
 412                         acceleration.set_derivative(this);
 413                 }
 414
 415                 void set_derivative(AltosCValue in) {
 416                         super.set_derivative(in);
 417                         set_accel();
 418                 }
 419
 420                 void set_computed(double new_value, double time) {
 421                         super.set_computed(new_value, time);
 422                         set_accel();
 423                 }
 424
 425                 void set_measured(double new_value, double time) {
 426                         super.set_measured(new_value, time);
 427                         set_accel();
 428                 }
 429         }
 430
 431         private AltosSpeed speed;
 432
 433         public double speed() {
 434                 double v = kalman_speed.value();
 435                 if (v != AltosLib.MISSING)
 436                         return v;
 437                 return speed.value();
 438         }
 439
 440         public double max_speed() {
 441                 double v = kalman_speed.max();
 442                 if (v != AltosLib.MISSING)
 443                         return v;
 444                 return speed.max();
 445         }
 446
 447         class AltosAccel extends AltosCValue {
 448                 void set_measured(double a, double time) {
 449                         super.set_measured(a, time);
 450                         if (ascent)
 451                                 speed.set_integral(this.measured);
 452                 }
 453         }
 454
 455         AltosAccel acceleration;
 456
 457         public double acceleration() {
 458                 return acceleration.value();
 459         }
 460
 461         public double max_acceleration() {
 462                 return acceleration.max();
 463         }
 464
 465         public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 466
 467         public void set_kalman(double height, double speed, double acceleration) {
 468                 kalman_height.set(height, time);
 469                 kalman_speed.set(speed, time);
 470                 kalman_acceleration.set(acceleration, time);
 471         }
 472
 473         public double   battery_voltage;
 474         public double   pyro_voltage;
 475         public double   temperature;
 476         public double   apogee_voltage;
 477         public double   main_voltage;
 478
 479         public double   ignitor_voltage[];
 480
 481         public AltosGPS gps;
 482         public AltosGPS temp_gps;
 483         public int temp_gps_sat_tick;
 484         public boolean  gps_pending;
 485         public int gps_sequence;
 486
 487         public AltosIMU imu;
 488         public AltosMag mag;
 489
 490         public static final int MIN_PAD_SAMPLES = 10;
 491
 492         public int      npad;
 493         public int      gps_waiting;
 494         public boolean  gps_ready;
 495
 496         public int      ngps;
 497
 498         public AltosGreatCircle from_pad;
 499         public double   elevation;      /* from pad */
 500         public double   range;          /* total distance */
 501
 502         public double   gps_height;
 503
 504         public double pad_lat, pad_lon, pad_alt;
 505
 506         public int      speak_tick;
 507         public double   speak_altitude;
 508
 509         public String   callsign;
 510         public String   firmware_version;
 511
 512         public double   accel_plus_g;
 513         public double   accel_minus_g;
 514         public double   accel;
 515         public double   ground_accel;
 516         public double   ground_accel_avg;
 517
 518         public int      log_format;
 519
 520         public AltosMs5607      baro;
 521
 522         public AltosCompanion   companion;
 523
 524         public void set_npad(int npad) {
 525                 this.npad = npad;
 526                 gps_waiting = MIN_PAD_SAMPLES - npad;
 527                 if (this.gps_waiting < 0)
 528                         gps_waiting = 0;
 529                 gps_ready = gps_waiting == 0;
 530         }
 531
 532         public void init() {
 533                 set = 0;
 534
 535                 received_time = System.currentTimeMillis();
 536                 time = AltosLib.MISSING;
 537                 time_change = AltosLib.MISSING;
 538                 prev_time = AltosLib.MISSING;
 539                 tick = AltosLib.MISSING;
 540                 prev_tick = AltosLib.MISSING;
 541                 boost_tick = AltosLib.MISSING;
 542                 state = AltosLib.ao_flight_invalid;
 543                 flight = AltosLib.MISSING;
 544                 landed = false;
 545                 boost = false;
 546                 rssi = AltosLib.MISSING;
 547                 status = 0;
 548                 device_type = AltosLib.MISSING;
 549                 config_major = AltosLib.MISSING;
 550                 config_minor = AltosLib.MISSING;
 551                 apogee_delay = AltosLib.MISSING;
 552                 main_deploy = AltosLib.MISSING;
 553                 flight_log_max = AltosLib.MISSING;
 554
 555                 ground_altitude = new AltosCValue();
 556                 ground_pressure = new AltosGroundPressure();
 557                 altitude = new AltosAltitude();
 558                 pressure = new AltosPressure();
 559                 speed = new AltosSpeed();
 560                 acceleration = new AltosAccel();
 561
 562                 temperature = AltosLib.MISSING;
 563                 battery_voltage = AltosLib.MISSING;
 564                 pyro_voltage = AltosLib.MISSING;
 565                 apogee_voltage = AltosLib.MISSING;
 566                 main_voltage = AltosLib.MISSING;
 567                 ignitor_voltage = null;
 568
 569                 kalman_height = new AltosValue();
 570                 kalman_speed = new AltosValue();
 571                 kalman_acceleration = new AltosValue();
 572
 573                 gps = null;
 574                 temp_gps = null;
 575                 temp_gps_sat_tick = 0;
 576                 gps_sequence = 0;
 577                 gps_pending = false;
 578
 579                 imu = null;
 580                 mag = null;
 581
 582                 set_npad(0);
 583                 ngps = 0;
 584
 585                 from_pad = null;
 586                 elevation = AltosLib.MISSING;
 587                 range = AltosLib.MISSING;
 588                 gps_height = AltosLib.MISSING;
 589
 590                 pad_lat = AltosLib.MISSING;
 591                 pad_lon = AltosLib.MISSING;
 592                 pad_alt = AltosLib.MISSING;
 593
 594                 speak_tick = AltosLib.MISSING;
 595                 speak_altitude = AltosLib.MISSING;
 596
 597                 callsign = null;
 598
 599                 accel_plus_g = AltosLib.MISSING;
 600                 accel_minus_g = AltosLib.MISSING;
 601                 accel = AltosLib.MISSING;
 602
 603                 ground_accel = AltosLib.MISSING;
 604                 ground_accel_avg = AltosLib.MISSING;
 605
 606                 log_format = AltosLib.MISSING;
 607                 serial = AltosLib.MISSING;
 608                 receiver_serial = AltosLib.MISSING;
 609
 610                 baro = null;
 611                 companion = null;
 612         }
 613
 614         void finish_update() {
 615                 prev_tick = tick;
 616
 617                 ground_altitude.finish_update();
 618                 altitude.finish_update();
 619                 pressure.finish_update();
 620                 speed.finish_update();
 621                 acceleration.finish_update();
 622
 623                 kalman_height.finish_update();
 624                 kalman_speed.finish_update();
 625                 kalman_acceleration.finish_update();
 626         }
 627
 628         void copy(AltosState old) {
 629
 630                 if (old == null) {
 631                         init();
 632                         return;
 633                 }
 634
 635                 received_time = old.received_time;
 636                 time = old.time;
 637                 time_change = old.time_change;
 638                 prev_time = old.time;
 639
 640                 tick = old.tick;
 641                 prev_tick = old.tick;
 642                 boost_tick = old.boost_tick;
 643
 644                 state = old.state;
 645                 flight = old.flight;
 646                 landed = old.landed;
 647                 ascent = old.ascent;
 648                 boost = old.boost;
 649                 rssi = old.rssi;
 650                 status = old.status;
 651                 device_type = old.device_type;
 652                 config_major = old.config_major;
 653                 config_minor = old.config_minor;
 654                 apogee_delay = old.apogee_delay;
 655                 main_deploy = old.main_deploy;
 656                 flight_log_max = old.flight_log_max;
 657
 658                 set = 0;
 659
 660                 ground_altitude.copy(old.ground_altitude);
 661                 altitude.copy(old.altitude);
 662                 pressure.copy(old.pressure);
 663                 speed.copy(old.speed);
 664                 acceleration.copy(old.acceleration);
 665
 666                 battery_voltage = old.battery_voltage;
 667                 pyro_voltage = old.pyro_voltage;
 668                 temperature = old.temperature;
 669                 apogee_voltage = old.apogee_voltage;
 670                 main_voltage = old.main_voltage;
 671                 ignitor_voltage = old.ignitor_voltage;
 672
 673                 kalman_height.copy(old.kalman_height);
 674                 kalman_speed.copy(old.kalman_speed);
 675                 kalman_acceleration.copy(old.kalman_acceleration);
 676
 677                 if (old.gps != null)
 678                         gps = old.gps.clone();
 679                 else
 680                         gps = null;
 681                 if (old.temp_gps != null)
 682                         temp_gps = old.temp_gps.clone();
 683                 else
 684                         temp_gps = null;
 685                 temp_gps_sat_tick = old.temp_gps_sat_tick;
 686                 gps_sequence = old.gps_sequence;
 687                 gps_pending = old.gps_pending;
 688
 689                 if (old.imu != null)
 690                         imu = old.imu.clone();
 691                 else
 692                         imu = null;
 693
 694                 if (old.mag != null)
 695                         mag = old.mag.clone();
 696                 else
 697                         mag = null;
 698
 699                 npad = old.npad;
 700                 gps_waiting = old.gps_waiting;
 701                 gps_ready = old.gps_ready;
 702                 ngps = old.ngps;
 703
 704                 if (old.from_pad != null)
 705                         from_pad = old.from_pad.clone();
 706                 else
 707                         from_pad = null;
 708
 709                 elevation = old.elevation;
 710                 range = old.range;
 711
 712                 gps_height = old.gps_height;
 713                 pad_lat = old.pad_lat;
 714                 pad_lon = old.pad_lon;
 715                 pad_alt = old.pad_alt;
 716
 717                 speak_tick = old.speak_tick;
 718                 speak_altitude = old.speak_altitude;
 719
 720                 callsign = old.callsign;
 721
 722                 accel_plus_g = old.accel_plus_g;
 723                 accel_minus_g = old.accel_minus_g;
 724                 accel = old.accel;
 725                 ground_accel = old.ground_accel;
 726                 ground_accel_avg = old.ground_accel_avg;
 727
 728                 log_format = old.log_format;
 729                 serial = old.serial;
 730                 receiver_serial = old.receiver_serial;
 731
 732                 baro = old.baro;
 733                 companion = old.companion;
 734         }
 735
 736         void update_time() {
 737         }
 738
 739         void update_gps() {
 740                 elevation = 0;
 741                 range = -1;
 742                 gps_height = 0;
 743
 744                 if (gps == null)
 745                         return;
 746
 747                 if (gps.locked && gps.nsat >= 4) {
 748                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 749                         if (state == AltosLib.ao_flight_pad) {
 750                                 set_npad(npad+1);
 751                                 if (pad_lat != AltosLib.MISSING) {
 752                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
 753                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
 754                                         pad_alt = (pad_alt * 31 + gps.alt) / 32;
 755                                 }
 756                         }
 757                         if (pad_lat == AltosLib.MISSING) {
 758                                 pad_lat = gps.lat;
 759                                 pad_lon = gps.lon;
 760                                 pad_alt = gps.alt;
 761                         }
 762                 }
 763                 if (gps.lat != 0 && gps.lon != 0 &&
 764                     pad_lat != AltosLib.MISSING &&
 765                     pad_lon != AltosLib.MISSING)
 766                 {
 767                         double h = height();
 768
 769                         if (h == AltosLib.MISSING)
 770                                 h = 0;
 771                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 772                         elevation = from_pad.elevation;
 773                         range = from_pad.range;
 774                         gps_height = gps.alt - pad_alt;
 775                 }
 776         }
 777
 778         public void set_tick(int new_tick) {
 779                 if (new_tick != AltosLib.MISSING) {
 780                         if (prev_tick != AltosLib.MISSING) {
 781                                 while (new_tick < prev_tick - 1000) {
 782                                         new_tick += 65536;
 783                                 }
 784                         }
 785                         tick = new_tick;
 786                         time = tick / 100.0;
 787                         time_change = time - prev_time;
 788                 }
 789         }
 790
 791         public void set_boost_tick(int boost_tick) {
 792                 if (boost_tick != AltosLib.MISSING)
 793                         this.boost_tick = boost_tick;
 794         }
 795
 796         public String state_name() {
 797                 return AltosLib.state_name(state);
 798         }
 799
 800         public void set_state(int state) {
 801                 if (state != AltosLib.ao_flight_invalid) {
 802                         this.state = state;
 803                         ascent = (AltosLib.ao_flight_boost <= state &&
 804                                   state <= AltosLib.ao_flight_coast);
 805                         boost = (AltosLib.ao_flight_boost == state);
 806                 }
 807
 808         }
 809
 810         public void set_device_type(int device_type) {
 811                 this.device_type = device_type;
 812         }
 813
 814         public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
 815                 config_major = major;
 816                 config_minor = minor;
 817                 this.apogee_delay = apogee_delay;
 818                 this.main_deploy = main_deploy;
 819                 this.flight_log_max = flight_log_max;
 820         }
 821
 822         public void set_callsign(String callsign) {
 823                 this.callsign = callsign;
 824         }
 825
 826         public void set_firmware_version(String version) {
 827                 firmware_version = version;
 828         }
 829
 830         public void set_flight(int flight) {
 831
 832                 /* When the flight changes, reset the state */
 833                 if (flight != AltosLib.MISSING && flight != 0) {
 834                         if (this.flight != AltosLib.MISSING &&
 835                             this.flight != flight) {
 836                                 init();
 837                         }
 838                         this.flight = flight;
 839                 }
 840         }
 841
 842         public void set_serial(int serial) {
 843                 /* When the serial changes, reset the state */
 844                 if (serial != AltosLib.MISSING) {
 845                         if (this.serial != AltosLib.MISSING &&
 846                             this.serial != serial) {
 847                                 init();
 848                         }
 849                         this.serial = serial;
 850                 }
 851         }
 852
 853         public void set_receiver_serial(int serial) {
 854                 if (serial != AltosLib.MISSING)
 855                         receiver_serial = serial;
 856         }
 857
 858         public int rssi() {
 859                 if (rssi == AltosLib.MISSING)
 860                         return 0;
 861                 return rssi;
 862         }
 863
 864         public void set_rssi(int rssi, int status) {
 865                 if (rssi != AltosLib.MISSING) {
 866                         this.rssi = rssi;
 867                         this.status = status;
 868                 }
 869         }
 870
 871         public void set_received_time(long ms) {
 872                 received_time = ms;
 873         }
 874
 875         public void set_gps(AltosGPS gps, int sequence) {
 876                 if (gps != null) {
 877                         this.gps = gps.clone();
 878                         gps_sequence = sequence;
 879                         update_gps();
 880                         set |= set_gps;
 881                 }
 882         }
 883
 884         public void set_imu(AltosIMU imu) {
 885                 if (imu != null)
 886                         imu = imu.clone();
 887                 this.imu = imu;
 888         }
 889
 890         public void set_mag(AltosMag mag) {
 891                 this.mag = mag.clone();
 892         }
 893
 894         public AltosMs5607 make_baro() {
 895                 if (baro == null)
 896                         baro = new AltosMs5607();
 897                 return baro;
 898         }
 899
 900         public void set_ms5607(AltosMs5607 ms5607) {
 901                 baro = ms5607;
 902
 903                 if (baro != null) {
 904                         set_pressure(baro.pa);
 905                         set_temperature(baro.cc / 100.0);
 906                 }
 907         }
 908
 909         public void set_ms5607(int pres, int temp) {
 910                 if (baro != null) {
 911                         baro.set(pres, temp);
 912
 913                         set_pressure(baro.pa);
 914                         set_temperature(baro.cc / 100.0);
 915                 }
 916         }
 917
 918         public void make_companion (int nchannels) {
 919                 if (companion == null)
 920                         companion = new AltosCompanion(nchannels);
 921         }
 922
 923         public void set_companion(AltosCompanion companion) {
 924                 this.companion = companion;
 925         }
 926
 927         void update_accel() {
 928                 double  ground = ground_accel;
 929
 930                 if (ground == AltosLib.MISSING)
 931                         ground = ground_accel_avg;
 932                 if (accel == AltosLib.MISSING)
 933                         return;
 934                 if (ground == AltosLib.MISSING)
 935                         return;
 936                 if (accel_plus_g == AltosLib.MISSING)
 937                         return;
 938                 if (accel_minus_g == AltosLib.MISSING)
 939                         return;
 940
 941                 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
 942                 double counts_per_mss = counts_per_g / 9.80665;
 943                 acceleration.set_measured((ground - accel) / counts_per_mss, time);
 944         }
 945
 946         public void set_accel_g(double accel_plus_g, double accel_minus_g) {
 947                 if (accel_plus_g != AltosLib.MISSING) {
 948                         this.accel_plus_g = accel_plus_g;
 949                         this.accel_minus_g = accel_minus_g;
 950                         update_accel();
 951                 }
 952         }
 953
 954         public void set_ground_accel(double ground_accel) {
 955                 if (ground_accel != AltosLib.MISSING) {
 956                         this.ground_accel = ground_accel;
 957                         update_accel();
 958                 }
 959         }
 960
 961         public void set_accel(double accel) {
 962                 if (accel != AltosLib.MISSING) {
 963                         this.accel = accel;
 964                         if (state == AltosLib.ao_flight_pad) {
 965                                 if (ground_accel_avg == AltosLib.MISSING)
 966                                         ground_accel_avg = accel;
 967                                 else
 968                                         ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
 969                         }
 970                 }
 971                 update_accel();
 972         }
 973
 974         public void set_temperature(double temperature) {
 975                 if (temperature != AltosLib.MISSING) {
 976                         this.temperature = temperature;
 977                         set |= set_data;
 978                 }
 979         }
 980
 981         public void set_battery_voltage(double battery_voltage) {
 982                 if (battery_voltage != AltosLib.MISSING) {
 983                         this.battery_voltage = battery_voltage;
 984                         set |= set_data;
 985                 }
 986         }
 987
 988         public void set_pyro_voltage(double pyro_voltage) {
 989                 if (pyro_voltage != AltosLib.MISSING) {
 990                         this.pyro_voltage = pyro_voltage;
 991                         set |= set_data;
 992                 }
 993         }
 994
 995         public void set_apogee_voltage(double apogee_voltage) {
 996                 if (apogee_voltage != AltosLib.MISSING) {
 997                         this.apogee_voltage = apogee_voltage;
 998                         set |= set_data;
 999                 }
1000         }
1001
1002         public void set_main_voltage(double main_voltage) {
1003                 if (main_voltage != AltosLib.MISSING) {
1004                         this.main_voltage = main_voltage;
1005                         set |= set_data;
1006                 }
1007         }
1008
1009         public void set_ignitor_voltage(double[] voltage) {
1010                 this.ignitor_voltage = voltage;
1011         }
1012
1013         public double time_since_boost() {
1014                 if (tick == AltosLib.MISSING)
1015                         return 0.0;
1016
1017                 if (boost_tick != AltosLib.MISSING) {
1018                         return (tick - boost_tick) / 100.0;
1019                 }
1020                 return tick / 100.0;
1021         }
1022
1023         public boolean valid() {
1024                 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1025         }
1026
1027         public AltosGPS make_temp_gps(boolean sats) {
1028                 if (temp_gps == null) {
1029                         temp_gps = new AltosGPS(gps);
1030                 }
1031                 gps_pending = true;
1032                 if (sats) {
1033                         if (tick != temp_gps_sat_tick)
1034                                 temp_gps.cc_gps_sat = null;
1035                         temp_gps_sat_tick = tick;
1036                 }
1037                 return temp_gps;
1038         }
1039
1040         public void set_temp_gps() {
1041                 set_gps(temp_gps, gps_sequence + 1);
1042                 gps_pending = false;
1043                 temp_gps = null;
1044         }
1045
1046         public AltosState clone() {
1047                 AltosState s = new AltosState();
1048                 s.copy(this);
1049                 return s;
1050         }
1051
1052         public AltosState () {
1053                 init();
1054         }
1055 }