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_3;
  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                 void set(double new_value, double time) {
  54                         if (new_value != AltosLib.MISSING) {
  55                                 value = new_value;
  56                                 if (max_value == AltosLib.MISSING || value > max_value) {
  57                                         max_value = value;
  58                                 }
  59                                 set_time = time;
  60                         }
  61                 }
  62
  63                 void set_filtered(double new_value, double time) {
  64                         if (prev_value != AltosLib.MISSING)
  65                                 new_value = (prev_value * 15.0 + new_value) / 16.0;
  66                         set(new_value, time);
  67                 }
  68
  69                 double value() {
  70                         return value;
  71                 }
  72
  73                 double max() {
  74                         return max_value;
  75                 }
  76
  77                 double prev() {
  78                         return prev_value;
  79                 }
  80
  81                 double change() {
  82                         if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
  83                                 return value - prev_value;
  84                         return AltosLib.MISSING;
  85                 }
  86
  87                 double rate() {
  88                         double c = change();
  89                         double t = set_time - prev_set_time;
  90
  91                         if (c != AltosLib.MISSING && t != 0)
  92                                 return c / t;
  93                         return AltosLib.MISSING;
  94                 }
  95
  96                 double integrate() {
  97                         if (value == AltosLib.MISSING)
  98                                 return AltosLib.MISSING;
  99                         if (prev_value == AltosLib.MISSING)
 100                                 return AltosLib.MISSING;
 101
 102                         return (value + prev_value) / 2 * (set_time - prev_set_time);
 103                 }
 104
 105                 double time() {
 106                         return set_time;
 107                 }
 108
 109                 void set_derivative(AltosValue in) {
 110                         double  n = in.rate();
 111
 112                         if (n == AltosLib.MISSING)
 113                                 return;
 114
 115                         double  p = prev_value;
 116                         double  pt = prev_set_time;
 117
 118                         if (p == AltosLib.MISSING) {
 119                                 p = 0;
 120                                 pt = in.time() - 0.01;
 121                         }
 122
 123                         /* Clip changes to reduce noise */
 124                         double  ddt = in.time() - pt;
 125                         double  ddv = (n - p) / ddt;
 126
 127                         final double max = 100000;
 128
 129                         /* 100gs */
 130                         if (Math.abs(ddv) > max) {
 131                                 if (n > p)
 132                                         n = p + ddt * max;
 133                                 else
 134                                         n = p - ddt * max;
 135                         }
 136
 137                         double filter_len;
 138
 139                         if (ascent)
 140                                 filter_len = ascent_filter_len;
 141                         else
 142                                 filter_len = descent_filter_len;
 143
 144                         double f = 1/Math.exp(ddt/ filter_len);
 145                         n = p * f + n * (1-f);
 146
 147                         set(n, in.time());
 148                 }
 149
 150                 void set_integral(AltosValue in) {
 151                         double  change = in.integrate();
 152
 153                         if (change != AltosLib.MISSING) {
 154                                 double  prev = prev_value;
 155                                 if (prev == AltosLib.MISSING)
 156                                         prev = 0;
 157                                 set(prev + change, in.time());
 158                         }
 159                 }
 160
 161                 void copy(AltosValue old) {
 162                         value = old.value;
 163                         set_time = old.set_time;
 164                         prev_value = old.value;
 165                         prev_set_time = old.set_time;
 166                         max_value = old.max_value;
 167                 }
 168
 169                 void finish_update() {
 170                         prev_value = value;
 171                         prev_set_time = set_time;
 172                 }
 173
 174                 AltosValue() {
 175                         value = AltosLib.MISSING;
 176                         prev_value = AltosLib.MISSING;
 177                         max_value = AltosLib.MISSING;
 178                 }
 179         }
 180
 181         class AltosCValue {
 182                 AltosValue      measured;
 183                 AltosValue      computed;
 184
 185                 double value() {
 186                         double v = measured.value();
 187                         if (v != AltosLib.MISSING)
 188                                 return v;
 189                         return computed.value();
 190                 }
 191
 192                 boolean is_measured() {
 193                         return measured.value() != AltosLib.MISSING;
 194                 }
 195
 196                 double max() {
 197                         double m = measured.max();
 198
 199                         if (m != AltosLib.MISSING)
 200                                 return m;
 201                         return computed.max();
 202                 }
 203
 204                 double prev_value() {
 205                         if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
 206                                 return measured.prev_value;
 207                         return computed.prev_value;
 208                 }
 209
 210                 AltosValue altos_value() {
 211                         if (measured.value() != AltosLib.MISSING)
 212                                 return measured;
 213                         return computed;
 214                 }
 215
 216                 double change() {
 217                         double c = measured.change();
 218                         if (c == AltosLib.MISSING)
 219                                 c = computed.change();
 220                         return c;
 221                 }
 222
 223                 double rate() {
 224                         double r = measured.rate();
 225                         if (r == AltosLib.MISSING)
 226                                 r = computed.rate();
 227                         return r;
 228                 }
 229
 230                 void set_measured(double new_value, double time) {
 231                         measured.set(new_value, time);
 232                 }
 233
 234                 void set_computed(double new_value, double time) {
 235                         computed.set(new_value, time);
 236                 }
 237
 238                 void set_derivative(AltosValue in) {
 239                         computed.set_derivative(in);
 240                 }
 241
 242                 void set_derivative(AltosCValue in) {
 243                         set_derivative(in.altos_value());
 244                 }
 245
 246                 void set_integral(AltosValue in) {
 247                         computed.set_integral(in);
 248                 }
 249
 250                 void set_integral(AltosCValue in) {
 251                         set_integral(in.altos_value());
 252                 }
 253
 254                 void copy(AltosCValue old) {
 255                         measured.copy(old.measured);
 256                         computed.copy(old.computed);
 257                 }
 258
 259                 void finish_update() {
 260                         measured.finish_update();
 261                         computed.finish_update();
 262                 }
 263
 264                 AltosCValue() {
 265                         measured = new AltosValue();
 266                         computed = new AltosValue();
 267                 }
 268         }
 269
 270         public int      state;
 271         public int      flight;
 272         public int      serial;
 273         public int      receiver_serial;
 274         public boolean  landed;
 275         public boolean  ascent; /* going up? */
 276         public boolean  boost;  /* under power */
 277         public int      rssi;
 278         public int      status;
 279         public int      device_type;
 280         public int      config_major;
 281         public int      config_minor;
 282         public int      apogee_delay;
 283         public int      main_deploy;
 284         public int      flight_log_max;
 285
 286         private double pressure_to_altitude(double p) {
 287                 if (p == AltosLib.MISSING)
 288                         return AltosLib.MISSING;
 289                 return AltosConvert.pressure_to_altitude(p);
 290         }
 291
 292         private AltosCValue ground_altitude;
 293
 294         public double ground_altitude() {
 295                 return ground_altitude.value();
 296         }
 297
 298         public void set_ground_altitude(double a) {
 299                 ground_altitude.set_measured(a, time);
 300         }
 301
 302         class AltosGroundPressure extends AltosCValue {
 303                 void set_filtered(double p, double time) {
 304                         computed.set_filtered(p, time);
 305                         if (!is_measured())
 306                                 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
 307                 }
 308
 309                 void set_measured(double p, double time) {
 310                         super.set_measured(p, time);
 311                         ground_altitude.set_computed(pressure_to_altitude(p), time);
 312                 }
 313         }
 314
 315         private AltosGroundPressure ground_pressure;
 316
 317         public double ground_pressure() {
 318                 return ground_pressure.value();
 319         }
 320
 321         public void set_ground_pressure (double pressure) {
 322                 ground_pressure.set_measured(pressure, time);
 323         }
 324
 325         class AltosAltitude extends AltosCValue {
 326
 327                 private void set_speed(AltosValue v) {
 328                         if (!acceleration.is_measured() || !ascent)
 329                                 speed.set_derivative(this);
 330                 }
 331
 332                 void set_computed(double a, double time) {
 333                         super.set_computed(a,time);
 334                         set_speed(computed);
 335                         set |= set_position;
 336                 }
 337
 338                 void set_measured(double a, double time) {
 339                         super.set_measured(a,time);
 340                         set_speed(measured);
 341                         set |= set_position;
 342                 }
 343         }
 344
 345         private AltosAltitude   altitude;
 346
 347         public double altitude() {
 348                 double a = altitude.value();
 349                 if (a != AltosLib.MISSING)
 350                         return a;
 351                 if (gps != null)
 352                         return gps.alt;
 353                 return AltosLib.MISSING;
 354         }
 355
 356         public double max_altitude() {
 357                 double a = altitude.max();
 358                 if (a != AltosLib.MISSING)
 359                         return a;
 360                 return AltosLib.MISSING;
 361         }
 362
 363         public void set_altitude(double new_altitude) {
 364                 altitude.set_measured(new_altitude, time);
 365         }
 366
 367         class AltosPressure extends AltosValue {
 368                 void set(double p, double time) {
 369                         super.set(p, time);
 370                         if (state == AltosLib.ao_flight_pad)
 371                                 ground_pressure.set_filtered(p, time);
 372                         double a = pressure_to_altitude(p);
 373                         altitude.set_computed(a, time);
 374                 }
 375         }
 376
 377         private AltosPressure   pressure;
 378
 379         public double pressure() {
 380                 return pressure.value();
 381         }
 382
 383         public void set_pressure(double p) {
 384                 pressure.set(p, time);
 385         }
 386
 387         public double height() {
 388                 double k = kalman_height.value();
 389                 if (k != AltosLib.MISSING)
 390                         return k;
 391
 392                 double a = altitude();
 393                 double g = ground_altitude();
 394                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 395                         return a - g;
 396                 return AltosLib.MISSING;
 397         }
 398
 399         public double max_height() {
 400                 double  k = kalman_height.max();
 401                 if (k != AltosLib.MISSING)
 402                         return k;
 403
 404                 double a = altitude.max();
 405                 double g = ground_altitude();
 406                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 407                         return a - g;
 408                 return AltosLib.MISSING;
 409         }
 410
 411         class AltosSpeed extends AltosCValue {
 412
 413                 void set_accel() {
 414                         acceleration.set_derivative(this);
 415                 }
 416
 417                 void set_derivative(AltosCValue in) {
 418                         super.set_derivative(in);
 419                         set_accel();
 420                 }
 421
 422                 void set_computed(double new_value, double time) {
 423                         super.set_computed(new_value, time);
 424                         set_accel();
 425                 }
 426
 427                 void set_measured(double new_value, double time) {
 428                         super.set_measured(new_value, time);
 429                         set_accel();
 430                 }
 431         }
 432
 433         private AltosSpeed speed;
 434
 435         public double speed() {
 436                 double v = kalman_speed.value();
 437                 if (v != AltosLib.MISSING)
 438                         return v;
 439                 return speed.value();
 440         }
 441
 442         public double max_speed() {
 443                 double v = kalman_speed.max();
 444                 if (v != AltosLib.MISSING)
 445                         return v;
 446                 return speed.max();
 447         }
 448
 449         class AltosAccel extends AltosCValue {
 450                 void set_measured(double a, double time) {
 451                         super.set_measured(a, time);
 452                         if (ascent)
 453                                 speed.set_integral(this.measured);
 454                 }
 455         }
 456
 457         AltosAccel acceleration;
 458
 459         public double acceleration() {
 460                 return acceleration.value();
 461         }
 462
 463         public double max_acceleration() {
 464                 return acceleration.max();
 465         }
 466
 467         public AltosValue       orient;
 468
 469         public void set_orient(double new_orient) {
 470                 orient.set(new_orient, time);
 471         }
 472
 473         public double orient() {
 474                 return orient.value();
 475         }
 476
 477         public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 478
 479         public void set_kalman(double height, double speed, double acceleration) {
 480                 kalman_height.set(height, time);
 481                 kalman_speed.set(speed, time);
 482                 kalman_acceleration.set(acceleration, time);
 483         }
 484
 485         public double   battery_voltage;
 486         public double   pyro_voltage;
 487         public double   temperature;
 488         public double   apogee_voltage;
 489         public double   main_voltage;
 490
 491         public double   ignitor_voltage[];
 492
 493         public AltosGPS gps;
 494         public AltosGPS temp_gps;
 495         public int temp_gps_sat_tick;
 496         public boolean  gps_pending;
 497         public int gps_sequence;
 498
 499         public AltosIMU imu;
 500         public AltosMag mag;
 501
 502         public static final int MIN_PAD_SAMPLES = 10;
 503
 504         public int      npad;
 505         public int      gps_waiting;
 506         public boolean  gps_ready;
 507
 508         public int      ngps;
 509
 510         public AltosGreatCircle from_pad;
 511         public double   elevation;      /* from pad */
 512         public double   range;          /* total distance */
 513
 514         public double   gps_height;
 515
 516         public double pad_lat, pad_lon, pad_alt;
 517
 518         public int      speak_tick;
 519         public double   speak_altitude;
 520
 521         public String   callsign;
 522         public String   firmware_version;
 523
 524         public double   accel_plus_g;
 525         public double   accel_minus_g;
 526         public double   accel;
 527         public double   ground_accel;
 528         public double   ground_accel_avg;
 529
 530         public int      log_format;
 531
 532         public AltosMs5607      baro;
 533
 534         public AltosCompanion   companion;
 535
 536         public void set_npad(int npad) {
 537                 this.npad = npad;
 538                 gps_waiting = MIN_PAD_SAMPLES - npad;
 539                 if (this.gps_waiting < 0)
 540                         gps_waiting = 0;
 541                 gps_ready = gps_waiting == 0;
 542         }
 543
 544         public void init() {
 545                 set = 0;
 546
 547                 received_time = System.currentTimeMillis();
 548                 time = AltosLib.MISSING;
 549                 time_change = AltosLib.MISSING;
 550                 prev_time = AltosLib.MISSING;
 551                 tick = AltosLib.MISSING;
 552                 prev_tick = AltosLib.MISSING;
 553                 boost_tick = AltosLib.MISSING;
 554                 state = AltosLib.ao_flight_invalid;
 555                 flight = AltosLib.MISSING;
 556                 landed = false;
 557                 boost = false;
 558                 rssi = AltosLib.MISSING;
 559                 status = 0;
 560                 device_type = AltosLib.MISSING;
 561                 config_major = AltosLib.MISSING;
 562                 config_minor = AltosLib.MISSING;
 563                 apogee_delay = AltosLib.MISSING;
 564                 main_deploy = AltosLib.MISSING;
 565                 flight_log_max = AltosLib.MISSING;
 566
 567                 ground_altitude = new AltosCValue();
 568                 ground_pressure = new AltosGroundPressure();
 569                 altitude = new AltosAltitude();
 570                 pressure = new AltosPressure();
 571                 speed = new AltosSpeed();
 572                 acceleration = new AltosAccel();
 573                 orient = new AltosValue();
 574
 575                 temperature = AltosLib.MISSING;
 576                 battery_voltage = AltosLib.MISSING;
 577                 pyro_voltage = AltosLib.MISSING;
 578                 apogee_voltage = AltosLib.MISSING;
 579                 main_voltage = AltosLib.MISSING;
 580                 ignitor_voltage = null;
 581
 582                 kalman_height = new AltosValue();
 583                 kalman_speed = new AltosValue();
 584                 kalman_acceleration = new AltosValue();
 585
 586                 gps = null;
 587                 temp_gps = null;
 588                 temp_gps_sat_tick = 0;
 589                 gps_sequence = 0;
 590                 gps_pending = false;
 591
 592                 imu = null;
 593                 mag = null;
 594
 595                 set_npad(0);
 596                 ngps = 0;
 597
 598                 from_pad = null;
 599                 elevation = AltosLib.MISSING;
 600                 range = AltosLib.MISSING;
 601                 gps_height = AltosLib.MISSING;
 602
 603                 pad_lat = AltosLib.MISSING;
 604                 pad_lon = AltosLib.MISSING;
 605                 pad_alt = AltosLib.MISSING;
 606
 607                 speak_tick = AltosLib.MISSING;
 608                 speak_altitude = AltosLib.MISSING;
 609
 610                 callsign = null;
 611
 612                 accel_plus_g = AltosLib.MISSING;
 613                 accel_minus_g = AltosLib.MISSING;
 614                 accel = AltosLib.MISSING;
 615
 616                 ground_accel = AltosLib.MISSING;
 617                 ground_accel_avg = AltosLib.MISSING;
 618
 619                 log_format = AltosLib.MISSING;
 620                 serial = AltosLib.MISSING;
 621                 receiver_serial = AltosLib.MISSING;
 622
 623                 baro = null;
 624                 companion = null;
 625         }
 626
 627         void finish_update() {
 628                 prev_tick = tick;
 629
 630                 ground_altitude.finish_update();
 631                 altitude.finish_update();
 632                 pressure.finish_update();
 633                 speed.finish_update();
 634                 acceleration.finish_update();
 635                 orient.finish_update();
 636
 637                 kalman_height.finish_update();
 638                 kalman_speed.finish_update();
 639                 kalman_acceleration.finish_update();
 640         }
 641
 642         void copy(AltosState old) {
 643
 644                 if (old == null) {
 645                         init();
 646                         return;
 647                 }
 648
 649                 received_time = old.received_time;
 650                 time = old.time;
 651                 time_change = old.time_change;
 652                 prev_time = old.time;
 653
 654                 tick = old.tick;
 655                 prev_tick = old.tick;
 656                 boost_tick = old.boost_tick;
 657
 658                 state = old.state;
 659                 flight = old.flight;
 660                 landed = old.landed;
 661                 ascent = old.ascent;
 662                 boost = old.boost;
 663                 rssi = old.rssi;
 664                 status = old.status;
 665                 device_type = old.device_type;
 666                 config_major = old.config_major;
 667                 config_minor = old.config_minor;
 668                 apogee_delay = old.apogee_delay;
 669                 main_deploy = old.main_deploy;
 670                 flight_log_max = old.flight_log_max;
 671
 672                 set = 0;
 673
 674                 ground_pressure.copy(old.ground_pressure);
 675                 ground_altitude.copy(old.ground_altitude);
 676                 altitude.copy(old.altitude);
 677                 pressure.copy(old.pressure);
 678                 speed.copy(old.speed);
 679                 acceleration.copy(old.acceleration);
 680                 orient.copy(old.orient);
 681
 682                 battery_voltage = old.battery_voltage;
 683                 pyro_voltage = old.pyro_voltage;
 684                 temperature = old.temperature;
 685                 apogee_voltage = old.apogee_voltage;
 686                 main_voltage = old.main_voltage;
 687                 ignitor_voltage = old.ignitor_voltage;
 688
 689                 kalman_height.copy(old.kalman_height);
 690                 kalman_speed.copy(old.kalman_speed);
 691                 kalman_acceleration.copy(old.kalman_acceleration);
 692
 693                 if (old.gps != null)
 694                         gps = old.gps.clone();
 695                 else
 696                         gps = null;
 697                 if (old.temp_gps != null)
 698                         temp_gps = old.temp_gps.clone();
 699                 else
 700                         temp_gps = null;
 701                 temp_gps_sat_tick = old.temp_gps_sat_tick;
 702                 gps_sequence = old.gps_sequence;
 703                 gps_pending = old.gps_pending;
 704
 705                 if (old.imu != null)
 706                         imu = old.imu.clone();
 707                 else
 708                         imu = null;
 709
 710                 if (old.mag != null)
 711                         mag = old.mag.clone();
 712                 else
 713                         mag = null;
 714
 715                 npad = old.npad;
 716                 gps_waiting = old.gps_waiting;
 717                 gps_ready = old.gps_ready;
 718                 ngps = old.ngps;
 719
 720                 if (old.from_pad != null)
 721                         from_pad = old.from_pad.clone();
 722                 else
 723                         from_pad = null;
 724
 725                 elevation = old.elevation;
 726                 range = old.range;
 727
 728                 gps_height = old.gps_height;
 729                 pad_lat = old.pad_lat;
 730                 pad_lon = old.pad_lon;
 731                 pad_alt = old.pad_alt;
 732
 733                 speak_tick = old.speak_tick;
 734                 speak_altitude = old.speak_altitude;
 735
 736                 callsign = old.callsign;
 737
 738                 accel_plus_g = old.accel_plus_g;
 739                 accel_minus_g = old.accel_minus_g;
 740                 accel = old.accel;
 741                 ground_accel = old.ground_accel;
 742                 ground_accel_avg = old.ground_accel_avg;
 743
 744                 log_format = old.log_format;
 745                 serial = old.serial;
 746                 receiver_serial = old.receiver_serial;
 747
 748                 baro = old.baro;
 749                 companion = old.companion;
 750         }
 751
 752         void update_time() {
 753         }
 754
 755         void update_gps() {
 756                 elevation = 0;
 757                 range = -1;
 758                 gps_height = 0;
 759
 760                 if (gps == null)
 761                         return;
 762
 763                 if (gps.locked && gps.nsat >= 4) {
 764                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 765                         if (state == AltosLib.ao_flight_pad) {
 766                                 set_npad(npad+1);
 767                                 if (pad_lat != AltosLib.MISSING) {
 768                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
 769                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
 770                                         pad_alt = (pad_alt * 31 + gps.alt) / 32;
 771                                 }
 772                         }
 773                         if (pad_lat == AltosLib.MISSING) {
 774                                 pad_lat = gps.lat;
 775                                 pad_lon = gps.lon;
 776                                 pad_alt = gps.alt;
 777                         }
 778                 }
 779                 if (gps.lat != 0 && gps.lon != 0 &&
 780                     pad_lat != AltosLib.MISSING &&
 781                     pad_lon != AltosLib.MISSING)
 782                 {
 783                         double h = height();
 784
 785                         if (h == AltosLib.MISSING)
 786                                 h = 0;
 787                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 788                         elevation = from_pad.elevation;
 789                         range = from_pad.range;
 790                         gps_height = gps.alt - pad_alt;
 791                 }
 792         }
 793
 794         public void set_tick(int new_tick) {
 795                 if (new_tick != AltosLib.MISSING) {
 796                         if (prev_tick != AltosLib.MISSING) {
 797                                 while (new_tick < prev_tick - 1000) {
 798                                         new_tick += 65536;
 799                                 }
 800                         }
 801                         tick = new_tick;
 802                         time = tick / 100.0;
 803                         time_change = time - prev_time;
 804                 }
 805         }
 806
 807         public void set_boost_tick(int boost_tick) {
 808                 if (boost_tick != AltosLib.MISSING)
 809                         this.boost_tick = boost_tick;
 810         }
 811
 812         public String state_name() {
 813                 return AltosLib.state_name(state);
 814         }
 815
 816         public void set_state(int state) {
 817                 if (state != AltosLib.ao_flight_invalid) {
 818                         this.state = state;
 819                         ascent = (AltosLib.ao_flight_boost <= state &&
 820                                   state <= AltosLib.ao_flight_coast);
 821                         boost = (AltosLib.ao_flight_boost == state);
 822                 }
 823
 824         }
 825
 826         public void set_device_type(int device_type) {
 827                 this.device_type = device_type;
 828         }
 829
 830         public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
 831                 config_major = major;
 832                 config_minor = minor;
 833                 this.apogee_delay = apogee_delay;
 834                 this.main_deploy = main_deploy;
 835                 this.flight_log_max = flight_log_max;
 836         }
 837
 838         public void set_callsign(String callsign) {
 839                 this.callsign = callsign;
 840         }
 841
 842         public void set_firmware_version(String version) {
 843                 firmware_version = version;
 844         }
 845
 846         public void set_flight(int flight) {
 847
 848                 /* When the flight changes, reset the state */
 849                 if (flight != AltosLib.MISSING && flight != 0) {
 850                         if (this.flight != AltosLib.MISSING &&
 851                             this.flight != flight) {
 852                                 int bt = boost_tick;
 853                                 init();
 854                                 boost_tick = bt;
 855                         }
 856                         this.flight = flight;
 857                 }
 858         }
 859
 860         public void set_serial(int serial) {
 861                 /* When the serial changes, reset the state */
 862                 if (serial != AltosLib.MISSING) {
 863                         if (this.serial != AltosLib.MISSING &&
 864                             this.serial != serial) {
 865                                 int bt = boost_tick;
 866                                 init();
 867                                 boost_tick = bt;
 868                         }
 869                         this.serial = serial;
 870                 }
 871         }
 872
 873         public void set_receiver_serial(int serial) {
 874                 if (serial != AltosLib.MISSING)
 875                         receiver_serial = serial;
 876         }
 877
 878         public int rssi() {
 879                 if (rssi == AltosLib.MISSING)
 880                         return 0;
 881                 return rssi;
 882         }
 883
 884         public void set_rssi(int rssi, int status) {
 885                 if (rssi != AltosLib.MISSING) {
 886                         this.rssi = rssi;
 887                         this.status = status;
 888                 }
 889         }
 890
 891         public void set_received_time(long ms) {
 892                 received_time = ms;
 893         }
 894
 895         public void set_gps(AltosGPS gps, int sequence) {
 896                 if (gps != null) {
 897                         this.gps = gps.clone();
 898                         gps_sequence = sequence;
 899                         update_gps();
 900                         set |= set_gps;
 901                 }
 902         }
 903
 904         public void set_imu(AltosIMU imu) {
 905                 if (imu != null)
 906                         imu = imu.clone();
 907                 this.imu = imu;
 908         }
 909
 910         public void set_mag(AltosMag mag) {
 911                 this.mag = mag.clone();
 912         }
 913
 914         public AltosMs5607 make_baro() {
 915                 if (baro == null)
 916                         baro = new AltosMs5607();
 917                 return baro;
 918         }
 919
 920         public void set_ms5607(AltosMs5607 ms5607) {
 921                 baro = ms5607;
 922
 923                 if (baro != null) {
 924                         set_pressure(baro.pa);
 925                         set_temperature(baro.cc / 100.0);
 926                 }
 927         }
 928
 929         public void set_ms5607(int pres, int temp) {
 930                 if (baro != null) {
 931                         baro.set(pres, temp);
 932
 933                         set_pressure(baro.pa);
 934                         set_temperature(baro.cc / 100.0);
 935                 }
 936         }
 937
 938         public void make_companion (int nchannels) {
 939                 if (companion == null)
 940                         companion = new AltosCompanion(nchannels);
 941         }
 942
 943         public void set_companion(AltosCompanion companion) {
 944                 this.companion = companion;
 945         }
 946
 947         void update_accel() {
 948                 double  ground = ground_accel;
 949
 950                 if (ground == AltosLib.MISSING)
 951                         ground = ground_accel_avg;
 952                 if (accel == AltosLib.MISSING)
 953                         return;
 954                 if (ground == AltosLib.MISSING)
 955                         return;
 956                 if (accel_plus_g == AltosLib.MISSING)
 957                         return;
 958                 if (accel_minus_g == AltosLib.MISSING)
 959                         return;
 960
 961                 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
 962                 double counts_per_mss = counts_per_g / 9.80665;
 963                 acceleration.set_measured((ground - accel) / counts_per_mss, time);
 964         }
 965
 966         public void set_accel_g(double accel_plus_g, double accel_minus_g) {
 967                 if (accel_plus_g != AltosLib.MISSING) {
 968                         this.accel_plus_g = accel_plus_g;
 969                         this.accel_minus_g = accel_minus_g;
 970                         update_accel();
 971                 }
 972         }
 973
 974         public void set_ground_accel(double ground_accel) {
 975                 if (ground_accel != AltosLib.MISSING) {
 976                         this.ground_accel = ground_accel;
 977                         update_accel();
 978                 }
 979         }
 980
 981         public void set_accel(double accel) {
 982                 if (accel != AltosLib.MISSING) {
 983                         this.accel = accel;
 984                         if (state == AltosLib.ao_flight_pad) {
 985                                 if (ground_accel_avg == AltosLib.MISSING)
 986                                         ground_accel_avg = accel;
 987                                 else
 988                                         ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
 989                         }
 990                 }
 991                 update_accel();
 992         }
 993
 994         public void set_temperature(double temperature) {
 995                 if (temperature != AltosLib.MISSING) {
 996                         this.temperature = temperature;
 997                         set |= set_data;
 998                 }
 999         }
1000
1001         public void set_battery_voltage(double battery_voltage) {
1002                 if (battery_voltage != AltosLib.MISSING) {
1003                         this.battery_voltage = battery_voltage;
1004                         set |= set_data;
1005                 }
1006         }
1007
1008         public void set_pyro_voltage(double pyro_voltage) {
1009                 if (pyro_voltage != AltosLib.MISSING) {
1010                         this.pyro_voltage = pyro_voltage;
1011                         set |= set_data;
1012                 }
1013         }
1014
1015         public void set_apogee_voltage(double apogee_voltage) {
1016                 if (apogee_voltage != AltosLib.MISSING) {
1017                         this.apogee_voltage = apogee_voltage;
1018                         set |= set_data;
1019                 }
1020         }
1021
1022         public void set_main_voltage(double main_voltage) {
1023                 if (main_voltage != AltosLib.MISSING) {
1024                         this.main_voltage = main_voltage;
1025                         set |= set_data;
1026                 }
1027         }
1028
1029         public void set_ignitor_voltage(double[] voltage) {
1030                 this.ignitor_voltage = voltage;
1031         }
1032
1033         public double time_since_boost() {
1034                 if (tick == AltosLib.MISSING)
1035                         return 0.0;
1036
1037                 if (boost_tick == AltosLib.MISSING)
1038                         return tick / 100.0;
1039                 return (tick - boost_tick) / 100.0;
1040         }
1041
1042         public boolean valid() {
1043                 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1044         }
1045
1046         public AltosGPS make_temp_gps(boolean sats) {
1047                 if (temp_gps == null) {
1048                         temp_gps = new AltosGPS(gps);
1049                 }
1050                 gps_pending = true;
1051                 if (sats) {
1052                         if (tick != temp_gps_sat_tick)
1053                                 temp_gps.cc_gps_sat = null;
1054                         temp_gps_sat_tick = tick;
1055                 }
1056                 return temp_gps;
1057         }
1058
1059         public void set_temp_gps() {
1060                 set_gps(temp_gps, gps_sequence + 1);
1061                 gps_pending = false;
1062                 temp_gps = null;
1063         }
1064
1065         public AltosState clone() {
1066                 AltosState s = new AltosState();
1067                 s.copy(this);
1068                 return s;
1069         }
1070
1071         public AltosState () {
1072                 init();
1073         }
1074 }