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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;
  23
  24 public class AltosState {
  25         public AltosRecord data;
  26
  27         /* derived data */
  28
  29         public long     report_time;
  30
  31         public double   time;
  32         public double   time_change;
  33         public int      tick;
  34
  35         public int      state;
  36         public boolean  landed;
  37         public boolean  ascent; /* going up? */
  38         public boolean boost;   /* under power */
  39
  40         public double   ground_altitude;
  41         public double   height;
  42         public double   speed;
  43         public double   acceleration;
  44         public double   battery;
  45         public double   temperature;
  46         public double   main_sense;
  47         public double   drogue_sense;
  48         public double   baro_speed;
  49
  50         public double   max_height;
  51         public double   max_acceleration;
  52         public double   max_speed;
  53         public double   max_baro_speed;
  54
  55         public AltosGPS gps;
  56
  57         public AltosIMU imu;
  58         public AltosMag mag;
  59
  60         public static final int MIN_PAD_SAMPLES = 10;
  61
  62         public int      npad;
  63         public int      ngps;
  64         public int      gps_waiting;
  65         public boolean  gps_ready;
  66
  67         public AltosGreatCircle from_pad;
  68         public double   elevation;      /* from pad */
  69         public double   range;          /* total distance */
  70
  71         public double   gps_height;
  72
  73         public double pad_lat, pad_lon, pad_alt;
  74
  75         public int      speak_tick;
  76         public double   speak_altitude;
  77
  78         public void init (AltosRecord cur, AltosState prev_state) {
  79                 int             i;
  80                 AltosRecord prev;
  81
  82                 data = cur;
  83
  84                 ground_altitude = data.ground_altitude();
  85                 height = data.filtered_height();
  86
  87                 report_time = System.currentTimeMillis();
  88
  89                 acceleration = data.acceleration();
  90                 speed = data.accel_speed();
  91                 temperature = data.temperature();
  92                 drogue_sense = data.drogue_voltage();
  93                 main_sense = data.main_voltage();
  94                 battery = data.battery_voltage();
  95                 tick = data.tick;
  96                 state = data.state;
  97
  98                 if (prev_state != null) {
  99
 100                         /* Preserve any existing gps data */
 101                         npad = prev_state.npad;
 102                         ngps = prev_state.ngps;
 103                         gps = prev_state.gps;
 104                         pad_lat = prev_state.pad_lat;
 105                         pad_lon = prev_state.pad_lon;
 106                         pad_alt = prev_state.pad_alt;
 107                         max_height = prev_state.max_height;
 108                         max_acceleration = prev_state.max_acceleration;
 109                         max_speed = prev_state.max_speed;
 110                         max_baro_speed = prev_state.max_baro_speed;
 111                         imu = prev_state.imu;
 112                         mag = prev_state.mag;
 113
 114                         /* make sure the clock is monotonic */
 115                         while (tick < prev_state.tick)
 116                                 tick += 65536;
 117
 118                         time_change = (tick - prev_state.tick) / 100.0;
 119
 120                         /* compute barometric speed */
 121
 122                         double height_change = height - prev_state.height;
 123                         if (data.speed != AltosRecord.MISSING)
 124                                 baro_speed = data.speed;
 125                         else {
 126                                 if (time_change > 0)
 127                                         baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
 128                                 else
 129                                         baro_speed = prev_state.baro_speed;
 130                         }
 131                 } else {
 132                         npad = 0;
 133                         ngps = 0;
 134                         gps = null;
 135                         baro_speed = 0;
 136                         time_change = 0;
 137                 }
 138
 139                 time = tick / 100.0;
 140
 141                 if (cur.new_gps && (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_idle)) {
 142
 143                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 144                         if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
 145                                 npad++;
 146                         else
 147                                 npad = 0;
 148
 149                         /* Average GPS data while on the pad */
 150                         if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
 151                                 if (ngps > 1) {
 152                                         /* filter pad position */
 153                                         pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
 154                                         pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
 155                                         pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
 156                                 } else {
 157                                         pad_lat = data.gps.lat;
 158                                         pad_lon = data.gps.lon;
 159                                         pad_alt = data.gps.alt;
 160                                 }
 161                                 ngps++;
 162                         }
 163                 }
 164
 165                 gps_waiting = MIN_PAD_SAMPLES - npad;
 166                 if (gps_waiting < 0)
 167                         gps_waiting = 0;
 168
 169                 gps_ready = gps_waiting == 0;
 170
 171                 ascent = (AltosLib.ao_flight_boost <= state &&
 172                           state <= AltosLib.ao_flight_coast);
 173                 boost = (AltosLib.ao_flight_boost == state);
 174
 175                 /* Only look at accelerometer data under boost */
 176                 if (boost && acceleration > max_acceleration)
 177                         max_acceleration = acceleration;
 178                 if (boost && speed > max_speed)
 179                         max_speed = speed;
 180                 if (boost && baro_speed > max_baro_speed)
 181                         max_baro_speed = baro_speed;
 182
 183                 if (height > max_height)
 184                         max_height = height;
 185                 if (data.gps != null) {
 186                         if (gps == null || !gps.locked || data.gps.locked)
 187                                 gps = data.gps;
 188                         if (ngps > 0 && gps.locked) {
 189                                 from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
 190                         }
 191                 }
 192                 elevation = 0;
 193                 range = -1;
 194                 if (ngps > 0) {
 195                         gps_height = gps.alt - pad_alt;
 196                         if (from_pad != null) {
 197                                 elevation = Math.atan2(height, from_pad.distance) * 180 / Math.PI;
 198                                 range = Math.sqrt(height * height + from_pad.distance * from_pad.distance);
 199                         }
 200                 } else {
 201                         gps_height = 0;
 202                 }
 203         }
 204
 205         public AltosState(AltosRecord cur) {
 206                 init(cur, null);
 207         }
 208
 209         public AltosState (AltosRecord cur, AltosState prev) {
 210                 init(cur, prev);
 211         }
 212 }