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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_1;
  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   altitude;
  42         public double   height;
  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   accel_speed;
  49         public double   baro_speed;
  50
  51         public double   max_height;
  52         public double   max_acceleration;
  53         public double   max_accel_speed;
  54         public double   max_baro_speed;
  55
  56         public AltosGPS gps;
  57         public int gps_sequence;
  58
  59         public AltosIMU imu;
  60         public AltosMag mag;
  61
  62         public static final int MIN_PAD_SAMPLES = 10;
  63
  64         public int      npad;
  65         public int      ngps;
  66         public int      gps_waiting;
  67         public boolean  gps_ready;
  68
  69         public AltosGreatCircle from_pad;
  70         public double   elevation;      /* from pad */
  71         public double   range;          /* total distance */
  72
  73         public double   gps_height;
  74
  75         public double pad_lat, pad_lon, pad_alt;
  76
  77         public int      speak_tick;
  78         public double   speak_altitude;
  79
  80         public double speed() {
  81                 if (ascent)
  82                         return accel_speed;
  83                 else
  84                         return baro_speed;
  85         }
  86
  87         public double max_speed() {
  88                 if (max_accel_speed != 0)
  89                         return max_accel_speed;
  90                 return max_baro_speed;
  91         }
  92
  93         public void init (AltosRecord cur, AltosState prev_state) {
  94                 data = cur;
  95
  96                 /* Discard previous state if it was for a different board */
  97                 if (prev_state != null && prev_state.data.serial != data.serial)
  98                         prev_state = null;
  99                 ground_altitude = data.ground_altitude();
 100
 101                 altitude = data.altitude();
 102                 if (altitude == AltosRecord.MISSING && data.gps != null)
 103                         altitude = data.gps.alt;
 104
 105                 height = AltosRecord.MISSING;
 106                 if (data.kalman_height != AltosRecord.MISSING)
 107                         height = data.kalman_height;
 108                 else {
 109                         if (altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING) {
 110                                 double  cur_height = altitude - ground_altitude;
 111                                 if (prev_state == null || prev_state.height == AltosRecord.MISSING)
 112                                         height = cur_height;
 113                                 else
 114                                         height = (prev_state.height * 15 + cur_height) / 16.0;
 115                         }
 116                 }
 117
 118                 report_time = System.currentTimeMillis();
 119
 120                 if (data.kalman_acceleration != AltosRecord.MISSING)
 121                         acceleration = data.kalman_acceleration;
 122                 else
 123                         acceleration = data.acceleration();
 124                 temperature = data.temperature();
 125                 drogue_sense = data.drogue_voltage();
 126                 main_sense = data.main_voltage();
 127                 battery = data.battery_voltage();
 128                 tick = data.tick;
 129                 state = data.state;
 130
 131                 if (prev_state != null) {
 132
 133                         /* Preserve any existing gps data */
 134                         npad = prev_state.npad;
 135                         ngps = prev_state.ngps;
 136                         gps = prev_state.gps;
 137                         gps_sequence = prev_state.gps_sequence;
 138                         pad_lat = prev_state.pad_lat;
 139                         pad_lon = prev_state.pad_lon;
 140                         pad_alt = prev_state.pad_alt;
 141                         max_height = prev_state.max_height;
 142                         max_acceleration = prev_state.max_acceleration;
 143                         max_accel_speed = prev_state.max_accel_speed;
 144                         max_baro_speed = prev_state.max_baro_speed;
 145                         imu = prev_state.imu;
 146                         mag = prev_state.mag;
 147
 148                         /* make sure the clock is monotonic */
 149                         while (tick < prev_state.tick)
 150                                 tick += 65536;
 151
 152                         time_change = (tick - prev_state.tick) / 100.0;
 153
 154                         if (data.kalman_speed != AltosRecord.MISSING) {
 155                                 baro_speed = accel_speed = data.kalman_speed;
 156                         } else {
 157                                 /* compute barometric speed */
 158
 159                                 double height_change = height - prev_state.height;
 160
 161                                 double prev_baro_speed = prev_state.baro_speed;
 162                                 if (prev_baro_speed == AltosRecord.MISSING)
 163                                         prev_baro_speed = 0;
 164
 165                                 if (time_change > 0)
 166                                         baro_speed = (prev_baro_speed * 3 + (height_change / time_change)) / 4.0;
 167                                 else
 168                                         baro_speed = prev_state.baro_speed;
 169
 170                                 double prev_accel_speed = prev_state.accel_speed;
 171
 172                                 if (prev_accel_speed == AltosRecord.MISSING)
 173                                         prev_accel_speed = 0;
 174
 175                                 if (acceleration == AltosRecord.MISSING) {
 176                                         /* Fill in mising acceleration value */
 177                                         accel_speed = baro_speed;
 178
 179                                         if (time_change > 0 && accel_speed != AltosRecord.MISSING)
 180                                                 acceleration = (accel_speed - prev_accel_speed) / time_change;
 181                                         else
 182                                                 acceleration = prev_state.acceleration;
 183                                 } else {
 184                                         /* compute accelerometer speed */
 185                                         accel_speed = prev_accel_speed + acceleration * time_change;
 186                                 }
 187                         }
 188                 } else {
 189                         npad = 0;
 190                         ngps = 0;
 191                         gps = null;
 192                         gps_sequence = 0;
 193                         baro_speed = AltosRecord.MISSING;
 194                         accel_speed = AltosRecord.MISSING;
 195                         pad_alt = AltosRecord.MISSING;
 196                         max_baro_speed = 0;
 197                         max_accel_speed = 0;
 198                         max_height = 0;
 199                         max_acceleration = 0;
 200                         time_change = 0;
 201                 }
 202
 203                 time = tick / 100.0;
 204
 205                 if (data.gps != null && data.gps_sequence != gps_sequence && (state < AltosLib.ao_flight_boost)) {
 206
 207                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 208                         if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
 209                                 npad++;
 210                         else
 211                                 npad = 0;
 212
 213                         /* Average GPS data while on the pad */
 214                         if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
 215                                 if (ngps > 1 && state == AltosLib.ao_flight_pad) {
 216                                         /* filter pad position */
 217                                         pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
 218                                         pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
 219                                         pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
 220                                 } else {
 221                                         pad_lat = data.gps.lat;
 222                                         pad_lon = data.gps.lon;
 223                                         pad_alt = data.gps.alt;
 224                                 }
 225                                 ngps++;
 226                         }
 227                 } else {
 228                         if (ngps == 0 && ground_altitude != AltosRecord.MISSING)
 229                                 pad_alt = ground_altitude;
 230                 }
 231
 232                 gps_sequence = data.gps_sequence;
 233
 234                 gps_waiting = MIN_PAD_SAMPLES - npad;
 235                 if (gps_waiting < 0)
 236                         gps_waiting = 0;
 237
 238                 gps_ready = gps_waiting == 0;
 239
 240                 ascent = (AltosLib.ao_flight_boost <= state &&
 241                           state <= AltosLib.ao_flight_coast);
 242                 boost = (AltosLib.ao_flight_boost == state);
 243
 244                 /* Only look at accelerometer data under boost */
 245                 if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
 246                         max_acceleration = acceleration;
 247                 if (boost && accel_speed != AltosRecord.MISSING && accel_speed > max_accel_speed)
 248                         max_accel_speed = accel_speed;
 249                 if (boost && baro_speed != AltosRecord.MISSING && baro_speed > max_baro_speed)
 250                         max_baro_speed = baro_speed;
 251
 252                 if (height != AltosRecord.MISSING && height > max_height)
 253                         max_height = height;
 254                 elevation = 0;
 255                 range = -1;
 256                 gps_height = 0;
 257                 if (data.gps != null) {
 258                         gps = data.gps;
 259                         if (ngps > 0 && gps.locked) {
 260                                 double h = height;
 261
 262                                 if (h == AltosRecord.MISSING) h = 0;
 263                                 from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 264                                 elevation = from_pad.elevation;
 265                                 range = from_pad.range;
 266                                 gps_height = gps.alt - pad_alt;
 267                         }
 268                 }
 269         }
 270
 271         public AltosState(AltosRecord cur) {
 272                 init(cur, null);
 273         }
 274
 275         public AltosState (AltosRecord cur, AltosState prev) {
 276                 init(cur, prev);
 277         }
 278 }