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_2;
  23
  24 public class AltosState implements Cloneable {
  25
  26         public static final int set_position = 1;
  27         public static final int set_gps = 2;
  28         public static final int set_data = 4;
  29
  30         public int set;
  31
  32         static final double ascent_filter_len = 0.5;
  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       kalman_height, kalman_speed, kalman_acceleration;
 468
 469         public void set_kalman(double height, double speed, double acceleration) {
 470                 kalman_height.set(height, time);
 471                 kalman_speed.set(speed, time);
 472                 kalman_acceleration.set(acceleration, time);
 473         }
 474
 475         public double   battery_voltage;
 476         public double   pyro_voltage;
 477         public double   temperature;
 478         public double   apogee_voltage;
 479         public double   main_voltage;
 480
 481         public double   ignitor_voltage[];
 482
 483         public AltosGPS gps;
 484         public AltosGPS temp_gps;
 485         public int temp_gps_sat_tick;
 486         public boolean  gps_pending;
 487         public int gps_sequence;
 488
 489         public AltosIMU imu;
 490         public AltosMag mag;
 491
 492         public static final int MIN_PAD_SAMPLES = 10;
 493
 494         public int      npad;
 495         public int      gps_waiting;
 496         public boolean  gps_ready;
 497
 498         public int      ngps;
 499
 500         public AltosGreatCircle from_pad;
 501         public double   elevation;      /* from pad */
 502         public double   range;          /* total distance */
 503
 504         public double   gps_height;
 505
 506         public double pad_lat, pad_lon, pad_alt;
 507
 508         public int      speak_tick;
 509         public double   speak_altitude;
 510
 511         public String   callsign;
 512         public String   firmware_version;
 513
 514         public double   accel_plus_g;
 515         public double   accel_minus_g;
 516         public double   accel;
 517         public double   ground_accel;
 518         public double   ground_accel_avg;
 519
 520         public int      log_format;
 521
 522         public AltosMs5607      baro;
 523
 524         public AltosCompanion   companion;
 525
 526         public void set_npad(int npad) {
 527                 this.npad = npad;
 528                 gps_waiting = MIN_PAD_SAMPLES - npad;
 529                 if (this.gps_waiting < 0)
 530                         gps_waiting = 0;
 531                 gps_ready = gps_waiting == 0;
 532         }
 533
 534         public void init() {
 535                 set = 0;
 536
 537                 received_time = System.currentTimeMillis();
 538                 time = AltosLib.MISSING;
 539                 time_change = AltosLib.MISSING;
 540                 prev_time = AltosLib.MISSING;
 541                 tick = AltosLib.MISSING;
 542                 prev_tick = AltosLib.MISSING;
 543                 boost_tick = AltosLib.MISSING;
 544                 state = AltosLib.ao_flight_invalid;
 545                 flight = AltosLib.MISSING;
 546                 landed = false;
 547                 boost = false;
 548                 rssi = AltosLib.MISSING;
 549                 status = 0;
 550                 device_type = AltosLib.MISSING;
 551                 config_major = AltosLib.MISSING;
 552                 config_minor = AltosLib.MISSING;
 553                 apogee_delay = AltosLib.MISSING;
 554                 main_deploy = AltosLib.MISSING;
 555                 flight_log_max = AltosLib.MISSING;
 556
 557                 ground_altitude = new AltosCValue();
 558                 ground_pressure = new AltosGroundPressure();
 559                 altitude = new AltosAltitude();
 560                 pressure = new AltosPressure();
 561                 speed = new AltosSpeed();
 562                 acceleration = new AltosAccel();
 563
 564                 temperature = AltosLib.MISSING;
 565                 battery_voltage = AltosLib.MISSING;
 566                 pyro_voltage = AltosLib.MISSING;
 567                 apogee_voltage = AltosLib.MISSING;
 568                 main_voltage = AltosLib.MISSING;
 569                 ignitor_voltage = null;
 570
 571                 kalman_height = new AltosValue();
 572                 kalman_speed = new AltosValue();
 573                 kalman_acceleration = new AltosValue();
 574
 575                 gps = null;
 576                 temp_gps = null;
 577                 temp_gps_sat_tick = 0;
 578                 gps_sequence = 0;
 579                 gps_pending = false;
 580
 581                 imu = null;
 582                 mag = null;
 583
 584                 set_npad(0);
 585                 ngps = 0;
 586
 587                 from_pad = null;
 588                 elevation = AltosLib.MISSING;
 589                 range = AltosLib.MISSING;
 590                 gps_height = AltosLib.MISSING;
 591
 592                 pad_lat = AltosLib.MISSING;
 593                 pad_lon = AltosLib.MISSING;
 594                 pad_alt = AltosLib.MISSING;
 595
 596                 speak_tick = AltosLib.MISSING;
 597                 speak_altitude = AltosLib.MISSING;
 598
 599                 callsign = null;
 600
 601                 accel_plus_g = AltosLib.MISSING;
 602                 accel_minus_g = AltosLib.MISSING;
 603                 accel = AltosLib.MISSING;
 604
 605                 ground_accel = AltosLib.MISSING;
 606                 ground_accel_avg = AltosLib.MISSING;
 607
 608                 log_format = AltosLib.MISSING;
 609                 serial = AltosLib.MISSING;
 610                 receiver_serial = AltosLib.MISSING;
 611
 612                 baro = null;
 613                 companion = null;
 614         }
 615
 616         void finish_update() {
 617                 prev_tick = tick;
 618
 619                 ground_altitude.finish_update();
 620                 altitude.finish_update();
 621                 pressure.finish_update();
 622                 speed.finish_update();
 623                 acceleration.finish_update();
 624
 625                 kalman_height.finish_update();
 626                 kalman_speed.finish_update();
 627                 kalman_acceleration.finish_update();
 628         }
 629
 630         void copy(AltosState old) {
 631
 632                 if (old == null) {
 633                         init();
 634                         return;
 635                 }
 636
 637                 received_time = old.received_time;
 638                 time = old.time;
 639                 time_change = old.time_change;
 640                 prev_time = old.time;
 641
 642                 tick = old.tick;
 643                 prev_tick = old.tick;
 644                 boost_tick = old.boost_tick;
 645
 646                 state = old.state;
 647                 flight = old.flight;
 648                 landed = old.landed;
 649                 ascent = old.ascent;
 650                 boost = old.boost;
 651                 rssi = old.rssi;
 652                 status = old.status;
 653                 device_type = old.device_type;
 654                 config_major = old.config_major;
 655                 config_minor = old.config_minor;
 656                 apogee_delay = old.apogee_delay;
 657                 main_deploy = old.main_deploy;
 658                 flight_log_max = old.flight_log_max;
 659
 660                 set = 0;
 661
 662                 ground_pressure.copy(old.ground_pressure);
 663                 ground_altitude.copy(old.ground_altitude);
 664                 altitude.copy(old.altitude);
 665                 pressure.copy(old.pressure);
 666                 speed.copy(old.speed);
 667                 acceleration.copy(old.acceleration);
 668
 669                 battery_voltage = old.battery_voltage;
 670                 pyro_voltage = old.pyro_voltage;
 671                 temperature = old.temperature;
 672                 apogee_voltage = old.apogee_voltage;
 673                 main_voltage = old.main_voltage;
 674                 ignitor_voltage = old.ignitor_voltage;
 675
 676                 kalman_height.copy(old.kalman_height);
 677                 kalman_speed.copy(old.kalman_speed);
 678                 kalman_acceleration.copy(old.kalman_acceleration);
 679
 680                 if (old.gps != null)
 681                         gps = old.gps.clone();
 682                 else
 683                         gps = null;
 684                 if (old.temp_gps != null)
 685                         temp_gps = old.temp_gps.clone();
 686                 else
 687                         temp_gps = null;
 688                 temp_gps_sat_tick = old.temp_gps_sat_tick;
 689                 gps_sequence = old.gps_sequence;
 690                 gps_pending = old.gps_pending;
 691
 692                 if (old.imu != null)
 693                         imu = old.imu.clone();
 694                 else
 695                         imu = null;
 696
 697                 if (old.mag != null)
 698                         mag = old.mag.clone();
 699                 else
 700                         mag = null;
 701
 702                 npad = old.npad;
 703                 gps_waiting = old.gps_waiting;
 704                 gps_ready = old.gps_ready;
 705                 ngps = old.ngps;
 706
 707                 if (old.from_pad != null)
 708                         from_pad = old.from_pad.clone();
 709                 else
 710                         from_pad = null;
 711
 712                 elevation = old.elevation;
 713                 range = old.range;
 714
 715                 gps_height = old.gps_height;
 716                 pad_lat = old.pad_lat;
 717                 pad_lon = old.pad_lon;
 718                 pad_alt = old.pad_alt;
 719
 720                 speak_tick = old.speak_tick;
 721                 speak_altitude = old.speak_altitude;
 722
 723                 callsign = old.callsign;
 724
 725                 accel_plus_g = old.accel_plus_g;
 726                 accel_minus_g = old.accel_minus_g;
 727                 accel = old.accel;
 728                 ground_accel = old.ground_accel;
 729                 ground_accel_avg = old.ground_accel_avg;
 730
 731                 log_format = old.log_format;
 732                 serial = old.serial;
 733                 receiver_serial = old.receiver_serial;
 734
 735                 baro = old.baro;
 736                 companion = old.companion;
 737         }
 738
 739         void update_time() {
 740         }
 741
 742         void update_gps() {
 743                 elevation = 0;
 744                 range = -1;
 745                 gps_height = 0;
 746
 747                 if (gps == null)
 748                         return;
 749
 750                 if (gps.locked && gps.nsat >= 4) {
 751                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 752                         if (state == AltosLib.ao_flight_pad) {
 753                                 set_npad(npad+1);
 754                                 if (pad_lat != AltosLib.MISSING) {
 755                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
 756                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
 757                                         pad_alt = (pad_alt * 31 + gps.alt) / 32;
 758                                 }
 759                         }
 760                         if (pad_lat == AltosLib.MISSING) {
 761                                 pad_lat = gps.lat;
 762                                 pad_lon = gps.lon;
 763                                 pad_alt = gps.alt;
 764                         }
 765                 }
 766                 if (gps.lat != 0 && gps.lon != 0 &&
 767                     pad_lat != AltosLib.MISSING &&
 768                     pad_lon != AltosLib.MISSING)
 769                 {
 770                         double h = height();
 771
 772                         if (h == AltosLib.MISSING)
 773                                 h = 0;
 774                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 775                         elevation = from_pad.elevation;
 776                         range = from_pad.range;
 777                         gps_height = gps.alt - pad_alt;
 778                 }
 779         }
 780
 781         public void set_tick(int new_tick) {
 782                 if (new_tick != AltosLib.MISSING) {
 783                         if (prev_tick != AltosLib.MISSING) {
 784                                 while (new_tick < prev_tick - 1000) {
 785                                         new_tick += 65536;
 786                                 }
 787                         }
 788                         tick = new_tick;
 789                         time = tick / 100.0;
 790                         time_change = time - prev_time;
 791                 }
 792         }
 793
 794         public void set_boost_tick(int boost_tick) {
 795                 if (boost_tick != AltosLib.MISSING)
 796                         this.boost_tick = boost_tick;
 797         }
 798
 799         public String state_name() {
 800                 return AltosLib.state_name(state);
 801         }
 802
 803         public void set_state(int state) {
 804                 if (state != AltosLib.ao_flight_invalid) {
 805                         this.state = state;
 806                         ascent = (AltosLib.ao_flight_boost <= state &&
 807                                   state <= AltosLib.ao_flight_coast);
 808                         boost = (AltosLib.ao_flight_boost == state);
 809                 }
 810
 811         }
 812
 813         public void set_device_type(int device_type) {
 814                 this.device_type = device_type;
 815         }
 816
 817         public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
 818                 config_major = major;
 819                 config_minor = minor;
 820                 this.apogee_delay = apogee_delay;
 821                 this.main_deploy = main_deploy;
 822                 this.flight_log_max = flight_log_max;
 823         }
 824
 825         public void set_callsign(String callsign) {
 826                 this.callsign = callsign;
 827         }
 828
 829         public void set_firmware_version(String version) {
 830                 firmware_version = version;
 831         }
 832
 833         public void set_flight(int flight) {
 834
 835                 /* When the flight changes, reset the state */
 836                 if (flight != AltosLib.MISSING && flight != 0) {
 837                         if (this.flight != AltosLib.MISSING &&
 838                             this.flight != flight) {
 839                                 int bt = boost_tick;
 840                                 init();
 841                                 boost_tick = bt;
 842                         }
 843                         this.flight = flight;
 844                 }
 845         }
 846
 847         public void set_serial(int serial) {
 848                 /* When the serial changes, reset the state */
 849                 if (serial != AltosLib.MISSING) {
 850                         if (this.serial != AltosLib.MISSING &&
 851                             this.serial != serial) {
 852                                 int bt = boost_tick;
 853                                 init();
 854                                 boost_tick = bt;
 855                         }
 856                         this.serial = serial;
 857                 }
 858         }
 859
 860         public void set_receiver_serial(int serial) {
 861                 if (serial != AltosLib.MISSING)
 862                         receiver_serial = serial;
 863         }
 864
 865         public int rssi() {
 866                 if (rssi == AltosLib.MISSING)
 867                         return 0;
 868                 return rssi;
 869         }
 870
 871         public void set_rssi(int rssi, int status) {
 872                 if (rssi != AltosLib.MISSING) {
 873                         this.rssi = rssi;
 874                         this.status = status;
 875                 }
 876         }
 877
 878         public void set_received_time(long ms) {
 879                 received_time = ms;
 880         }
 881
 882         public void set_gps(AltosGPS gps, int sequence) {
 883                 if (gps != null) {
 884                         this.gps = gps.clone();
 885                         gps_sequence = sequence;
 886                         update_gps();
 887                         set |= set_gps;
 888                 }
 889         }
 890
 891         public void set_imu(AltosIMU imu) {
 892                 if (imu != null)
 893                         imu = imu.clone();
 894                 this.imu = imu;
 895         }
 896
 897         public void set_mag(AltosMag mag) {
 898                 this.mag = mag.clone();
 899         }
 900
 901         public AltosMs5607 make_baro() {
 902                 if (baro == null)
 903                         baro = new AltosMs5607();
 904                 return baro;
 905         }
 906
 907         public void set_ms5607(AltosMs5607 ms5607) {
 908                 baro = ms5607;
 909
 910                 if (baro != null) {
 911                         set_pressure(baro.pa);
 912                         set_temperature(baro.cc / 100.0);
 913                 }
 914         }
 915
 916         public void set_ms5607(int pres, int temp) {
 917                 if (baro != null) {
 918                         baro.set(pres, temp);
 919
 920                         set_pressure(baro.pa);
 921                         set_temperature(baro.cc / 100.0);
 922                 }
 923         }
 924
 925         public void make_companion (int nchannels) {
 926                 if (companion == null)
 927                         companion = new AltosCompanion(nchannels);
 928         }
 929
 930         public void set_companion(AltosCompanion companion) {
 931                 this.companion = companion;
 932         }
 933
 934         void update_accel() {
 935                 double  ground = ground_accel;
 936
 937                 if (ground == AltosLib.MISSING)
 938                         ground = ground_accel_avg;
 939                 if (accel == AltosLib.MISSING)
 940                         return;
 941                 if (ground == AltosLib.MISSING)
 942                         return;
 943                 if (accel_plus_g == AltosLib.MISSING)
 944                         return;
 945                 if (accel_minus_g == AltosLib.MISSING)
 946                         return;
 947
 948                 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
 949                 double counts_per_mss = counts_per_g / 9.80665;
 950                 acceleration.set_measured((ground - accel) / counts_per_mss, time);
 951         }
 952
 953         public void set_accel_g(double accel_plus_g, double accel_minus_g) {
 954                 if (accel_plus_g != AltosLib.MISSING) {
 955                         this.accel_plus_g = accel_plus_g;
 956                         this.accel_minus_g = accel_minus_g;
 957                         update_accel();
 958                 }
 959         }
 960
 961         public void set_ground_accel(double ground_accel) {
 962                 if (ground_accel != AltosLib.MISSING) {
 963                         this.ground_accel = ground_accel;
 964                         update_accel();
 965                 }
 966         }
 967
 968         public void set_accel(double accel) {
 969                 if (accel != AltosLib.MISSING) {
 970                         this.accel = accel;
 971                         if (state == AltosLib.ao_flight_pad) {
 972                                 if (ground_accel_avg == AltosLib.MISSING)
 973                                         ground_accel_avg = accel;
 974                                 else
 975                                         ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
 976                         }
 977                 }
 978                 update_accel();
 979         }
 980
 981         public void set_temperature(double temperature) {
 982                 if (temperature != AltosLib.MISSING) {
 983                         this.temperature = temperature;
 984                         set |= set_data;
 985                 }
 986         }
 987
 988         public void set_battery_voltage(double battery_voltage) {
 989                 if (battery_voltage != AltosLib.MISSING) {
 990                         this.battery_voltage = battery_voltage;
 991                         set |= set_data;
 992                 }
 993         }
 994
 995         public void set_pyro_voltage(double pyro_voltage) {
 996                 if (pyro_voltage != AltosLib.MISSING) {
 997                         this.pyro_voltage = pyro_voltage;
 998                         set |= set_data;
 999                 }
1000         }
1001
1002         public void set_apogee_voltage(double apogee_voltage) {
1003                 if (apogee_voltage != AltosLib.MISSING) {
1004                         this.apogee_voltage = apogee_voltage;
1005                         set |= set_data;
1006                 }
1007         }
1008
1009         public void set_main_voltage(double main_voltage) {
1010                 if (main_voltage != AltosLib.MISSING) {
1011                         this.main_voltage = main_voltage;
1012                         set |= set_data;
1013                 }
1014         }
1015
1016         public void set_ignitor_voltage(double[] voltage) {
1017                 this.ignitor_voltage = voltage;
1018         }
1019
1020         public double time_since_boost() {
1021                 if (tick == AltosLib.MISSING)
1022                         return 0.0;
1023
1024                 if (boost_tick == AltosLib.MISSING)
1025                         return tick / 100.0;
1026                 return (tick - boost_tick) / 100.0;
1027         }
1028
1029         public boolean valid() {
1030                 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1031         }
1032
1033         public AltosGPS make_temp_gps(boolean sats) {
1034                 if (temp_gps == null) {
1035                         temp_gps = new AltosGPS(gps);
1036                 }
1037                 gps_pending = true;
1038                 if (sats) {
1039                         if (tick != temp_gps_sat_tick)
1040                                 temp_gps.cc_gps_sat = null;
1041                         temp_gps_sat_tick = tick;
1042                 }
1043                 return temp_gps;
1044         }
1045
1046         public void set_temp_gps() {
1047                 set_gps(temp_gps, gps_sequence + 1);
1048                 gps_pending = false;
1049                 temp_gps = null;
1050         }
1051
1052         public AltosState clone() {
1053                 AltosState s = new AltosState();
1054                 s.copy(this);
1055                 return s;
1056         }
1057
1058         public AltosState () {
1059                 init();
1060         }
1061 }