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_5;
  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 = 0.5;
  33         static final double descent_filter_len = 0.5;
  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
  53                 boolean can_max() { return true; }
  54
  55                 void set(double new_value, double time) {
  56                         if (new_value != AltosLib.MISSING) {
  57                                 value = new_value;
  58                                 if (can_max() && (max_value == AltosLib.MISSING || value > max_value))
  59                                         max_value = value;
  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                         final double max = 100000;
 129
 130                         /* 100gs */
 131                         if (Math.abs(ddv) > max) {
 132                                 if (n > p)
 133                                         n = p + ddt * max;
 134                                 else
 135                                         n = p - ddt * max;
 136                         }
 137
 138                         double filter_len;
 139
 140                         if (ascent)
 141                                 filter_len = ascent_filter_len;
 142                         else
 143                                 filter_len = descent_filter_len;
 144
 145                         double f = 1/Math.exp(ddt/ filter_len);
 146                         n = p * f + n * (1-f);
 147
 148                         set(n, in.time());
 149                 }
 150
 151                 void set_integral(AltosValue in) {
 152                         double  change = in.integrate();
 153
 154                         if (change != AltosLib.MISSING) {
 155                                 double  prev = prev_value;
 156                                 if (prev == AltosLib.MISSING)
 157                                         prev = 0;
 158                                 set(prev + change, in.time());
 159                         }
 160                 }
 161
 162                 void copy(AltosValue old) {
 163                         value = old.value;
 164                         set_time = old.set_time;
 165                         prev_value = old.value;
 166                         prev_set_time = old.set_time;
 167                         max_value = old.max_value;
 168                 }
 169
 170                 void finish_update() {
 171                         prev_value = value;
 172                         prev_set_time = set_time;
 173                 }
 174
 175                 AltosValue() {
 176                         value = AltosLib.MISSING;
 177                         prev_value = AltosLib.MISSING;
 178                         max_value = AltosLib.MISSING;
 179                 }
 180         }
 181
 182         class AltosCValue {
 183                 AltosValue      measured;
 184                 AltosValue      computed;
 185
 186                 double value() {
 187                         double v = measured.value();
 188                         if (v != AltosLib.MISSING)
 189                                 return v;
 190                         return computed.value();
 191                 }
 192
 193                 boolean is_measured() {
 194                         return measured.value() != AltosLib.MISSING;
 195                 }
 196
 197                 double max() {
 198                         double m = measured.max();
 199
 200                         if (m != AltosLib.MISSING)
 201                                 return m;
 202                         return computed.max();
 203                 }
 204
 205                 double prev_value() {
 206                         if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
 207                                 return measured.prev_value;
 208                         return computed.prev_value;
 209                 }
 210
 211                 AltosValue altos_value() {
 212                         if (measured.value() != AltosLib.MISSING)
 213                                 return measured;
 214                         return computed;
 215                 }
 216
 217                 double change() {
 218                         double c = measured.change();
 219                         if (c == AltosLib.MISSING)
 220                                 c = computed.change();
 221                         return c;
 222                 }
 223
 224                 double rate() {
 225                         double r = measured.rate();
 226                         if (r == AltosLib.MISSING)
 227                                 r = computed.rate();
 228                         return r;
 229                 }
 230
 231                 void set_measured(double new_value, double time) {
 232                         measured.set(new_value, time);
 233                 }
 234
 235                 void set_computed(double new_value, double time) {
 236                         computed.set(new_value, time);
 237                 }
 238
 239                 void set_derivative(AltosValue in) {
 240                         computed.set_derivative(in);
 241                 }
 242
 243                 void set_derivative(AltosCValue in) {
 244                         set_derivative(in.altos_value());
 245                 }
 246
 247                 void set_integral(AltosValue in) {
 248                         computed.set_integral(in);
 249                 }
 250
 251                 void set_integral(AltosCValue in) {
 252                         set_integral(in.altos_value());
 253                 }
 254
 255                 void copy(AltosCValue old) {
 256                         measured.copy(old.measured);
 257                         computed.copy(old.computed);
 258                 }
 259
 260                 void finish_update() {
 261                         measured.finish_update();
 262                         computed.finish_update();
 263                 }
 264
 265                 AltosCValue() {
 266                         measured = new AltosValue();
 267                         computed = new AltosValue();
 268                 }
 269         }
 270
 271         public int      state;
 272         public int      flight;
 273         public int      serial;
 274         public int      altitude_32;
 275         public int      receiver_serial;
 276         public boolean  landed;
 277         public boolean  ascent; /* going up? */
 278         public boolean  boost;  /* under power */
 279         public int      rssi;
 280         public int      status;
 281         public int      device_type;
 282         public int      config_major;
 283         public int      config_minor;
 284         public int      apogee_delay;
 285         public int      main_deploy;
 286         public int      flight_log_max;
 287
 288         private double pressure_to_altitude(double p) {
 289                 if (p == AltosLib.MISSING)
 290                         return AltosLib.MISSING;
 291                 return AltosConvert.pressure_to_altitude(p);
 292         }
 293
 294         private AltosCValue ground_altitude;
 295
 296         public double ground_altitude() {
 297                 return ground_altitude.value();
 298         }
 299
 300         public void set_ground_altitude(double a) {
 301                 ground_altitude.set_measured(a, time);
 302         }
 303
 304         class AltosGpsGroundAltitude extends AltosValue {
 305                 void set(double a, double t) {
 306                         super.set(a, t);
 307                         pad_alt = value();
 308                         gps_altitude.set_gps_height();
 309                 }
 310
 311                 void set_filtered(double a, double t) {
 312                         super.set_filtered(a, t);
 313                         pad_alt = value();
 314                         gps_altitude.set_gps_height();
 315                 }
 316         }
 317
 318         private AltosGpsGroundAltitude gps_ground_altitude;
 319
 320         public double gps_ground_altitude() {
 321                 return gps_ground_altitude.value();
 322         }
 323
 324         public void set_gps_ground_altitude(double a) {
 325                 gps_ground_altitude.set(a, time);
 326         }
 327
 328         class AltosGroundPressure extends AltosCValue {
 329                 void set_filtered(double p, double time) {
 330                         computed.set_filtered(p, time);
 331                         if (!is_measured())
 332                                 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
 333                 }
 334
 335                 void set_measured(double p, double time) {
 336                         super.set_measured(p, time);
 337                         ground_altitude.set_computed(pressure_to_altitude(p), time);
 338                 }
 339         }
 340
 341         private AltosGroundPressure ground_pressure;
 342
 343         public double ground_pressure() {
 344                 return ground_pressure.value();
 345         }
 346
 347         public void set_ground_pressure (double pressure) {
 348                 ground_pressure.set_measured(pressure, time);
 349         }
 350
 351         class AltosAltitude extends AltosCValue {
 352
 353                 private void set_speed(AltosValue v) {
 354                         if (!acceleration.is_measured() || !ascent)
 355                                 speed.set_derivative(this);
 356                 }
 357
 358                 void set_computed(double a, double time) {
 359                         super.set_computed(a,time);
 360                         set_speed(computed);
 361                         set |= set_position;
 362                 }
 363
 364                 void set_measured(double a, double time) {
 365                         super.set_measured(a,time);
 366                         set_speed(measured);
 367                         set |= set_position;
 368                 }
 369         }
 370
 371         private AltosAltitude   altitude;
 372
 373         class AltosGpsAltitude extends AltosValue {
 374
 375                 private void set_gps_height() {
 376                         double  a = value();
 377                         double  g = gps_ground_altitude.value();
 378
 379                         if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 380                                 gps_height = a - g;
 381                         else
 382                                 gps_height = AltosLib.MISSING;
 383                 }
 384
 385                 void set(double a, double t) {
 386                         super.set(a, t);
 387                         set_gps_height();
 388                 }
 389         }
 390
 391         private AltosGpsAltitude        gps_altitude;
 392
 393         private AltosValue              gps_ground_speed;
 394         private AltosValue              gps_ascent_rate;
 395         private AltosValue              gps_course;
 396         private AltosValue              gps_speed;
 397
 398         public double altitude() {
 399                 double a = altitude.value();
 400                 if (a != AltosLib.MISSING)
 401                         return a;
 402                 return gps_altitude.value();
 403         }
 404
 405         public double max_altitude() {
 406                 double a = altitude.max();
 407                 if (a != AltosLib.MISSING)
 408                         return a;
 409                 return gps_altitude.max();
 410         }
 411
 412         public void set_altitude(double new_altitude) {
 413                 altitude.set_measured(new_altitude, time);
 414         }
 415
 416         public double gps_altitude() {
 417                 return gps_altitude.value();
 418         }
 419
 420         public double max_gps_altitude() {
 421                 return gps_altitude.max();
 422         }
 423
 424         public void set_gps_altitude(double new_gps_altitude) {
 425                 gps_altitude.set(new_gps_altitude, time);
 426         }
 427
 428         public double gps_ground_speed() {
 429                 return gps_ground_speed.value();
 430         }
 431
 432         public double max_gps_ground_speed() {
 433                 return gps_ground_speed.max();
 434         }
 435
 436         public double gps_ascent_rate() {
 437                 return gps_ascent_rate.value();
 438         }
 439
 440         public double max_gps_ascent_rate() {
 441                 return gps_ascent_rate.max();
 442         }
 443
 444         public double gps_course() {
 445                 return gps_course.value();
 446         }
 447
 448         public double gps_speed() {
 449                 return gps_speed.value();
 450         }
 451
 452         public double max_gps_speed() {
 453                 return gps_speed.max();
 454         }
 455
 456         class AltosPressure extends AltosValue {
 457                 void set(double p, double time) {
 458                         super.set(p, time);
 459                         if (state == AltosLib.ao_flight_pad)
 460                                 ground_pressure.set_filtered(p, time);
 461                         double a = pressure_to_altitude(p);
 462                         altitude.set_computed(a, time);
 463                 }
 464         }
 465
 466         private AltosPressure   pressure;
 467
 468         public double pressure() {
 469                 return pressure.value();
 470         }
 471
 472         public void set_pressure(double p) {
 473                 pressure.set(p, time);
 474         }
 475
 476         public double baro_height() {
 477                 double a = altitude();
 478                 double g = ground_altitude();
 479                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 480                         return a - g;
 481                 return AltosLib.MISSING;
 482         }
 483
 484         public double height() {
 485                 double k = kalman_height.value();
 486                 if (k != AltosLib.MISSING)
 487                         return k;
 488
 489                 double b = baro_height();
 490                 if (b != AltosLib.MISSING)
 491                         return b;
 492
 493                 return gps_height();
 494         }
 495
 496         public double max_height() {
 497                 double  k = kalman_height.max();
 498                 if (k != AltosLib.MISSING)
 499                         return k;
 500
 501                 double a = altitude.max();
 502                 double g = ground_altitude();
 503                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 504                         return a - g;
 505                 return max_gps_height();
 506         }
 507
 508         public double gps_height() {
 509                 double a = gps_altitude();
 510                 double g = gps_ground_altitude();
 511
 512                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 513                         return a - g;
 514                 return AltosLib.MISSING;
 515         }
 516
 517         public double max_gps_height() {
 518                 double a = gps_altitude.max();
 519                 double g = gps_ground_altitude();
 520
 521                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 522                         return a - g;
 523                 return AltosLib.MISSING;
 524         }
 525
 526         class AltosSpeed extends AltosCValue {
 527
 528                 boolean can_max() {
 529                         return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
 530                 }
 531
 532                 void set_accel() {
 533                         acceleration.set_derivative(this);
 534                 }
 535
 536                 void set_derivative(AltosCValue in) {
 537                         super.set_derivative(in);
 538                         set_accel();
 539                 }
 540
 541                 void set_computed(double new_value, double time) {
 542                         super.set_computed(new_value, time);
 543                         set_accel();
 544                 }
 545
 546                 void set_measured(double new_value, double time) {
 547                         super.set_measured(new_value, time);
 548                         set_accel();
 549                 }
 550         }
 551
 552         private AltosSpeed speed;
 553
 554         public double speed() {
 555                 double v = kalman_speed.value();
 556                 if (v != AltosLib.MISSING)
 557                         return v;
 558                 v = speed.value();
 559                 if (v != AltosLib.MISSING)
 560                         return v;
 561                 v = gps_speed();
 562                 if (v != AltosLib.MISSING)
 563                         return v;
 564                 return AltosLib.MISSING;
 565         }
 566
 567         public double max_speed() {
 568                 double v = kalman_speed.max();
 569                 if (v != AltosLib.MISSING)
 570                         return v;
 571                 v = speed.max();
 572                 if (v != AltosLib.MISSING)
 573                         return v;
 574                 v = max_gps_speed();
 575                 if (v != AltosLib.MISSING)
 576                         return v;
 577                 return AltosLib.MISSING;
 578         }
 579
 580         class AltosAccel extends AltosCValue {
 581
 582                 boolean can_max() {
 583                         return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
 584                 }
 585
 586                 void set_measured(double a, double time) {
 587                         super.set_measured(a, time);
 588                         if (ascent)
 589                                 speed.set_integral(this.measured);
 590                 }
 591         }
 592
 593         AltosAccel acceleration;
 594
 595         public double acceleration() {
 596                 return acceleration.value();
 597         }
 598
 599         public double max_acceleration() {
 600                 return acceleration.max();
 601         }
 602
 603         public AltosValue       orient;
 604
 605         public void set_orient(double new_orient) {
 606                 orient.set(new_orient, time);
 607         }
 608
 609         public double orient() {
 610                 return orient.value();
 611         }
 612
 613         public double max_orient() {
 614                 return orient.max();
 615         }
 616
 617         public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 618
 619         public void set_kalman(double height, double speed, double acceleration) {
 620                 kalman_height.set(height, time);
 621                 kalman_speed.set(speed, time);
 622                 kalman_acceleration.set(acceleration, time);
 623         }
 624
 625         public double   battery_voltage;
 626         public double   pyro_voltage;
 627         public double   temperature;
 628         public double   apogee_voltage;
 629         public double   main_voltage;
 630
 631         public double   ignitor_voltage[];
 632
 633         public AltosGPS gps;
 634         public AltosGPS temp_gps;
 635         public int temp_gps_sat_tick;
 636         public boolean  gps_pending;
 637         public int gps_sequence;
 638
 639         public AltosIMU imu;
 640         public AltosMag mag;
 641
 642         public static final int MIN_PAD_SAMPLES = 10;
 643
 644         public int      npad;
 645         public int      gps_waiting;
 646         public boolean  gps_ready;
 647
 648         public int      ngps;
 649
 650         public AltosGreatCircle from_pad;
 651         public double   elevation;      /* from pad */
 652         public double   range;          /* total distance */
 653
 654         public double   gps_height;
 655
 656         public double pad_lat, pad_lon, pad_alt;
 657
 658         public int      speak_tick;
 659         public double   speak_altitude;
 660
 661         public String   callsign;
 662         public String   firmware_version;
 663
 664         public double   accel_plus_g;
 665         public double   accel_minus_g;
 666         public double   accel;
 667         public double   ground_accel;
 668         public double   ground_accel_avg;
 669
 670         public int      log_format;
 671         public String   product;
 672
 673         public AltosMs5607      baro;
 674
 675         public AltosCompanion   companion;
 676
 677         public int      pyro_fired;
 678
 679         public void set_npad(int npad) {
 680                 this.npad = npad;
 681                 gps_waiting = MIN_PAD_SAMPLES - npad;
 682                 if (this.gps_waiting < 0)
 683                         gps_waiting = 0;
 684                 gps_ready = gps_waiting == 0;
 685         }
 686
 687         public void init() {
 688                 set = 0;
 689
 690                 received_time = System.currentTimeMillis();
 691                 time = AltosLib.MISSING;
 692                 time_change = AltosLib.MISSING;
 693                 prev_time = AltosLib.MISSING;
 694                 tick = AltosLib.MISSING;
 695                 prev_tick = AltosLib.MISSING;
 696                 boost_tick = AltosLib.MISSING;
 697                 state = AltosLib.ao_flight_invalid;
 698                 flight = AltosLib.MISSING;
 699                 landed = false;
 700                 boost = false;
 701                 rssi = AltosLib.MISSING;
 702                 status = 0;
 703                 device_type = AltosLib.MISSING;
 704                 config_major = AltosLib.MISSING;
 705                 config_minor = AltosLib.MISSING;
 706                 apogee_delay = AltosLib.MISSING;
 707                 main_deploy = AltosLib.MISSING;
 708                 flight_log_max = AltosLib.MISSING;
 709
 710                 ground_altitude = new AltosCValue();
 711                 ground_pressure = new AltosGroundPressure();
 712                 altitude = new AltosAltitude();
 713                 pressure = new AltosPressure();
 714                 speed = new AltosSpeed();
 715                 acceleration = new AltosAccel();
 716                 orient = new AltosValue();
 717
 718                 temperature = AltosLib.MISSING;
 719                 battery_voltage = AltosLib.MISSING;
 720                 pyro_voltage = AltosLib.MISSING;
 721                 apogee_voltage = AltosLib.MISSING;
 722                 main_voltage = AltosLib.MISSING;
 723                 ignitor_voltage = null;
 724
 725                 kalman_height = new AltosValue();
 726                 kalman_speed = new AltosValue();
 727                 kalman_acceleration = new AltosValue();
 728
 729                 gps = null;
 730                 temp_gps = null;
 731                 temp_gps_sat_tick = 0;
 732                 gps_sequence = 0;
 733                 gps_pending = false;
 734
 735                 imu = null;
 736                 mag = null;
 737
 738                 set_npad(0);
 739                 ngps = 0;
 740
 741                 from_pad = null;
 742                 elevation = AltosLib.MISSING;
 743                 range = AltosLib.MISSING;
 744                 gps_height = AltosLib.MISSING;
 745
 746                 pad_lat = AltosLib.MISSING;
 747                 pad_lon = AltosLib.MISSING;
 748                 pad_alt = AltosLib.MISSING;
 749
 750                 gps_altitude = new AltosGpsAltitude();
 751                 gps_ground_altitude = new AltosGpsGroundAltitude();
 752                 gps_ground_speed = new AltosValue();
 753                 gps_speed = new AltosValue();
 754                 gps_ascent_rate = new AltosValue();
 755                 gps_course = new AltosValue();
 756
 757                 speak_tick = AltosLib.MISSING;
 758                 speak_altitude = AltosLib.MISSING;
 759
 760                 callsign = null;
 761                 firmware_version = null;
 762
 763                 accel_plus_g = AltosLib.MISSING;
 764                 accel_minus_g = AltosLib.MISSING;
 765                 accel = AltosLib.MISSING;
 766
 767                 ground_accel = AltosLib.MISSING;
 768                 ground_accel_avg = AltosLib.MISSING;
 769
 770                 log_format = AltosLib.MISSING;
 771                 product = null;
 772                 serial = AltosLib.MISSING;
 773                 receiver_serial = AltosLib.MISSING;
 774                 altitude_32 = AltosLib.MISSING;
 775
 776                 baro = null;
 777                 companion = null;
 778
 779                 pyro_fired = 0;
 780         }
 781
 782         void finish_update() {
 783                 prev_tick = tick;
 784
 785                 ground_altitude.finish_update();
 786                 altitude.finish_update();
 787                 pressure.finish_update();
 788                 speed.finish_update();
 789                 acceleration.finish_update();
 790                 orient.finish_update();
 791
 792                 kalman_height.finish_update();
 793                 kalman_speed.finish_update();
 794                 kalman_acceleration.finish_update();
 795         }
 796
 797         void copy(AltosState old) {
 798
 799                 if (old == null) {
 800                         init();
 801                         return;
 802                 }
 803
 804                 received_time = old.received_time;
 805                 time = old.time;
 806                 time_change = old.time_change;
 807                 prev_time = old.time;
 808
 809                 tick = old.tick;
 810                 prev_tick = old.tick;
 811                 boost_tick = old.boost_tick;
 812
 813                 state = old.state;
 814                 flight = old.flight;
 815                 landed = old.landed;
 816                 ascent = old.ascent;
 817                 boost = old.boost;
 818                 rssi = old.rssi;
 819                 status = old.status;
 820                 device_type = old.device_type;
 821                 config_major = old.config_major;
 822                 config_minor = old.config_minor;
 823                 apogee_delay = old.apogee_delay;
 824                 main_deploy = old.main_deploy;
 825                 flight_log_max = old.flight_log_max;
 826
 827                 set = 0;
 828
 829                 ground_pressure.copy(old.ground_pressure);
 830                 ground_altitude.copy(old.ground_altitude);
 831                 altitude.copy(old.altitude);
 832                 pressure.copy(old.pressure);
 833                 speed.copy(old.speed);
 834                 acceleration.copy(old.acceleration);
 835                 orient.copy(old.orient);
 836
 837                 battery_voltage = old.battery_voltage;
 838                 pyro_voltage = old.pyro_voltage;
 839                 temperature = old.temperature;
 840                 apogee_voltage = old.apogee_voltage;
 841                 main_voltage = old.main_voltage;
 842                 ignitor_voltage = old.ignitor_voltage;
 843
 844                 kalman_height.copy(old.kalman_height);
 845                 kalman_speed.copy(old.kalman_speed);
 846                 kalman_acceleration.copy(old.kalman_acceleration);
 847
 848                 if (old.gps != null)
 849                         gps = old.gps.clone();
 850                 else
 851                         gps = null;
 852                 if (old.temp_gps != null)
 853                         temp_gps = old.temp_gps.clone();
 854                 else
 855                         temp_gps = null;
 856                 temp_gps_sat_tick = old.temp_gps_sat_tick;
 857                 gps_sequence = old.gps_sequence;
 858                 gps_pending = old.gps_pending;
 859
 860                 if (old.imu != null)
 861                         imu = old.imu.clone();
 862                 else
 863                         imu = null;
 864
 865                 if (old.mag != null)
 866                         mag = old.mag.clone();
 867                 else
 868                         mag = null;
 869
 870                 npad = old.npad;
 871                 gps_waiting = old.gps_waiting;
 872                 gps_ready = old.gps_ready;
 873                 ngps = old.ngps;
 874
 875                 if (old.from_pad != null)
 876                         from_pad = old.from_pad.clone();
 877                 else
 878                         from_pad = null;
 879
 880                 elevation = old.elevation;
 881                 range = old.range;
 882
 883                 gps_height = old.gps_height;
 884
 885                 gps_altitude.copy(old.gps_altitude);
 886                 gps_ground_altitude.copy(old.gps_ground_altitude);
 887                 gps_ground_speed.copy(old.gps_ground_speed);
 888                 gps_ascent_rate.copy(old.gps_ascent_rate);
 889                 gps_course.copy(old.gps_course);
 890                 gps_speed.copy(old.gps_speed);
 891
 892                 pad_lat = old.pad_lat;
 893                 pad_lon = old.pad_lon;
 894                 pad_alt = old.pad_alt;
 895
 896                 speak_tick = old.speak_tick;
 897                 speak_altitude = old.speak_altitude;
 898
 899                 callsign = old.callsign;
 900                 firmware_version = old.firmware_version;
 901
 902                 accel_plus_g = old.accel_plus_g;
 903                 accel_minus_g = old.accel_minus_g;
 904                 accel = old.accel;
 905                 ground_accel = old.ground_accel;
 906                 ground_accel_avg = old.ground_accel_avg;
 907
 908                 log_format = old.log_format;
 909                 product = old.product;
 910                 serial = old.serial;
 911                 receiver_serial = old.receiver_serial;
 912                 altitude_32 = old.altitude_32;
 913
 914                 baro = old.baro;
 915                 companion = old.companion;
 916
 917                 pyro_fired = old.pyro_fired;
 918         }
 919
 920         void update_time() {
 921         }
 922
 923         void update_gps() {
 924                 elevation = AltosLib.MISSING;
 925                 range = AltosLib.MISSING;
 926
 927                 if (gps == null)
 928                         return;
 929
 930                 if (gps.locked && gps.nsat >= 4) {
 931                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 932                         if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) {
 933                                 set_npad(npad+1);
 934                                 if (pad_lat != AltosLib.MISSING && (npad < 10 || state == AltosLib.ao_flight_pad)) {
 935                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
 936                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
 937                                         gps_ground_altitude.set_filtered(gps.alt, time);
 938                                 }
 939                         }
 940                         if (pad_lat == AltosLib.MISSING) {
 941                                 pad_lat = gps.lat;
 942                                 pad_lon = gps.lon;
 943                                 gps_ground_altitude.set(gps.alt, time);
 944                         }
 945                         gps_altitude.set(gps.alt, time);
 946                         if (gps.climb_rate != AltosLib.MISSING)
 947                                 gps_ascent_rate.set(gps.climb_rate, time);
 948                         if (gps.ground_speed != AltosLib.MISSING)
 949                                 gps_ground_speed.set(gps.ground_speed, time);
 950                         if (gps.climb_rate != AltosLib.MISSING && gps.ground_speed != AltosLib.MISSING)
 951                                 gps_speed.set(Math.sqrt(gps.ground_speed * gps.ground_speed +
 952                                                         gps.climb_rate * gps.climb_rate), time);
 953                         if (gps.course != AltosLib.MISSING)
 954                                 gps_course.set(gps.course, time);
 955                 }
 956                 if (gps.lat != 0 && gps.lon != 0 &&
 957                     pad_lat != AltosLib.MISSING &&
 958                     pad_lon != AltosLib.MISSING)
 959                 {
 960                         double h = height();
 961
 962                         if (h == AltosLib.MISSING)
 963                                 h = 0;
 964                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 965                         elevation = from_pad.elevation;
 966                         range = from_pad.range;
 967                 }
 968         }
 969
 970         public void set_tick(int new_tick) {
 971                 if (new_tick != AltosLib.MISSING) {
 972                         if (prev_tick != AltosLib.MISSING) {
 973                                 while (new_tick < prev_tick - 1000) {
 974                                         new_tick += 65536;
 975                                 }
 976                         }
 977                         tick = new_tick;
 978                         time = tick / 100.0;
 979                         time_change = time - prev_time;
 980                 }
 981         }
 982
 983         public void set_boost_tick(int boost_tick) {
 984                 if (boost_tick != AltosLib.MISSING)
 985                         this.boost_tick = boost_tick;
 986         }
 987
 988         public String state_name() {
 989                 return AltosLib.state_name(state);
 990         }
 991
 992         public void set_state(int state) {
 993                 if (state != AltosLib.ao_flight_invalid) {
 994                         this.state = state;
 995                         ascent = (AltosLib.ao_flight_boost <= state &&
 996                                   state <= AltosLib.ao_flight_coast);
 997                         boost = (AltosLib.ao_flight_boost == state);
 998                 }
 999         }
1000
1001         public void set_device_type(int device_type) {
1002                 this.device_type = device_type;
1003                 switch (device_type) {
1004                 case AltosLib.product_telegps:
1005                         this.state = AltosLib.ao_flight_stateless;
1006                         break;
1007                 }
1008         }
1009
1010         public void set_log_format(int log_format) {
1011                 this.log_format = log_format;
1012                 switch (log_format) {
1013                 case AltosLib.AO_LOG_FORMAT_TELEGPS:
1014                         this.state = AltosLib.ao_flight_stateless;
1015                         break;
1016                 }
1017         }
1018
1019         public void set_flight_params(int apogee_delay, int main_deploy) {
1020                 this.apogee_delay = apogee_delay;
1021                 this.main_deploy = main_deploy;
1022         }
1023
1024         public void set_config(int major, int minor, int flight_log_max) {
1025                 config_major = major;
1026                 config_minor = minor;
1027                 this.flight_log_max = flight_log_max;
1028         }
1029
1030         public void set_callsign(String callsign) {
1031                 this.callsign = callsign;
1032         }
1033
1034         public void set_firmware_version(String version) {
1035                 firmware_version = version;
1036         }
1037
1038         public int compare_version(String other_version) {
1039                 if (firmware_version == null)
1040                         return AltosLib.MISSING;
1041                 return AltosLib.compare_version(firmware_version, other_version);
1042         }
1043
1044         private void re_init() {
1045                 int bt = boost_tick;
1046                 int rs = receiver_serial;
1047                 init();
1048                 boost_tick = bt;
1049                 receiver_serial = rs;
1050         }
1051
1052         public void set_flight(int flight) {
1053
1054                 /* When the flight changes, reset the state */
1055                 if (flight != AltosLib.MISSING) {
1056                         if (this.flight != AltosLib.MISSING &&
1057                             this.flight != flight) {
1058                                 re_init();
1059                         }
1060                         this.flight = flight;
1061                 }
1062         }
1063
1064         public void set_serial(int serial) {
1065                 /* When the serial changes, reset the state */
1066                 if (serial != AltosLib.MISSING) {
1067                         if (this.serial != AltosLib.MISSING &&
1068                             this.serial != serial) {
1069                                 re_init();
1070                         }
1071                         this.serial = serial;
1072                 }
1073         }
1074
1075         public void set_receiver_serial(int serial) {
1076                 if (serial != AltosLib.MISSING)
1077                         receiver_serial = serial;
1078         }
1079
1080         public boolean altitude_32() {
1081                 return altitude_32 == 1;
1082         }
1083
1084         public void set_altitude_32(int altitude_32) {
1085                 if (altitude_32 != AltosLib.MISSING)
1086                         this.altitude_32 = altitude_32;
1087         }
1088
1089         public int rssi() {
1090                 if (rssi == AltosLib.MISSING)
1091                         return 0;
1092                 return rssi;
1093         }
1094
1095         public void set_rssi(int rssi, int status) {
1096                 if (rssi != AltosLib.MISSING) {
1097                         this.rssi = rssi;
1098                         this.status = status;
1099                 }
1100         }
1101
1102         public void set_received_time(long ms) {
1103                 received_time = ms;
1104         }
1105
1106         public void set_gps(AltosGPS gps, int sequence) {
1107                 if (gps != null) {
1108                         this.gps = gps.clone();
1109                         gps_sequence = sequence;
1110                         update_gps();
1111                         set |= set_gps;
1112                 }
1113         }
1114
1115         public void set_imu(AltosIMU imu) {
1116                 if (imu != null)
1117                         imu = imu.clone();
1118                 this.imu = imu;
1119         }
1120
1121         public void set_mag(AltosMag mag) {
1122                 this.mag = mag.clone();
1123         }
1124
1125         public AltosMs5607 make_baro() {
1126                 if (baro == null)
1127                         baro = new AltosMs5607();
1128                 return baro;
1129         }
1130
1131         public void set_ms5607(AltosMs5607 ms5607) {
1132                 baro = ms5607;
1133
1134                 if (baro != null) {
1135                         set_pressure(baro.pa);
1136                         set_temperature(baro.cc / 100.0);
1137                 }
1138         }
1139
1140         public void set_ms5607(int pres, int temp) {
1141                 if (baro != null) {
1142                         baro.set(pres, temp);
1143
1144                         set_pressure(baro.pa);
1145                         set_temperature(baro.cc / 100.0);
1146                 }
1147         }
1148
1149         public void make_companion (int nchannels) {
1150                 if (companion == null)
1151                         companion = new AltosCompanion(nchannels);
1152         }
1153
1154         public void set_companion(AltosCompanion companion) {
1155                 this.companion = companion;
1156         }
1157
1158         void update_accel() {
1159                 if (accel == AltosLib.MISSING)
1160                         return;
1161                 if (accel_plus_g == AltosLib.MISSING)
1162                         return;
1163                 if (accel_minus_g == AltosLib.MISSING)
1164                         return;
1165
1166                 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
1167                 double counts_per_mss = counts_per_g / 9.80665;
1168                 acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
1169         }
1170
1171         public void set_accel_g(double accel_plus_g, double accel_minus_g) {
1172                 if (accel_plus_g != AltosLib.MISSING) {
1173                         this.accel_plus_g = accel_plus_g;
1174                         this.accel_minus_g = accel_minus_g;
1175                         update_accel();
1176                 }
1177         }
1178
1179         public void set_ground_accel(double ground_accel) {
1180                 if (ground_accel != AltosLib.MISSING)
1181                         this.ground_accel = ground_accel;
1182         }
1183
1184         public void set_accel(double accel) {
1185                 if (accel != AltosLib.MISSING) {
1186                         this.accel = accel;
1187                         if (state == AltosLib.ao_flight_pad) {
1188                                 if (ground_accel_avg == AltosLib.MISSING)
1189                                         ground_accel_avg = accel;
1190                                 else
1191                                         ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
1192                         }
1193                 }
1194                 update_accel();
1195         }
1196
1197         public void set_temperature(double temperature) {
1198                 if (temperature != AltosLib.MISSING) {
1199                         this.temperature = temperature;
1200                         set |= set_data;
1201                 }
1202         }
1203
1204         public void set_battery_voltage(double battery_voltage) {
1205                 if (battery_voltage != AltosLib.MISSING) {
1206                         this.battery_voltage = battery_voltage;
1207                         set |= set_data;
1208                 }
1209         }
1210
1211         public void set_pyro_voltage(double pyro_voltage) {
1212                 if (pyro_voltage != AltosLib.MISSING) {
1213                         this.pyro_voltage = pyro_voltage;
1214                         set |= set_data;
1215                 }
1216         }
1217
1218         public void set_apogee_voltage(double apogee_voltage) {
1219                 if (apogee_voltage != AltosLib.MISSING) {
1220                         this.apogee_voltage = apogee_voltage;
1221                         set |= set_data;
1222                 }
1223         }
1224
1225         public void set_main_voltage(double main_voltage) {
1226                 if (main_voltage != AltosLib.MISSING) {
1227                         this.main_voltage = main_voltage;
1228                         set |= set_data;
1229                 }
1230         }
1231
1232         public void set_ignitor_voltage(double[] voltage) {
1233                 this.ignitor_voltage = voltage;
1234         }
1235
1236         public void set_pyro_fired(int fired) {
1237                 this.pyro_fired = fired;
1238         }
1239
1240         public double time_since_boost() {
1241                 if (tick == AltosLib.MISSING)
1242                         return 0.0;
1243
1244                 if (boost_tick == AltosLib.MISSING)
1245                         return tick / 100.0;
1246                 return (tick - boost_tick) / 100.0;
1247         }
1248
1249         public boolean valid() {
1250                 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1251         }
1252
1253         public AltosGPS make_temp_gps(boolean sats) {
1254                 if (temp_gps == null) {
1255                         temp_gps = new AltosGPS(gps);
1256                 }
1257                 gps_pending = true;
1258                 if (sats) {
1259                         if (tick != temp_gps_sat_tick)
1260                                 temp_gps.cc_gps_sat = null;
1261                         temp_gps_sat_tick = tick;
1262                 }
1263                 return temp_gps;
1264         }
1265
1266         public void set_temp_gps() {
1267                 set_gps(temp_gps, gps_sequence + 1);
1268                 gps_pending = false;
1269                 temp_gps = null;
1270         }
1271
1272         public AltosState clone() {
1273                 AltosState s = new AltosState();
1274                 s.copy(this);
1275                 return s;
1276         }
1277
1278         public AltosState () {
1279                 init();
1280         }
1281 }