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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 /*
  20  * Track flight state from telemetry or eeprom data stream
  21  */
  22
  23 package org.altusmetrum.altoslib_13;
  24
  25 public class AltosState extends AltosDataListener {
  26
  27         public static final int set_position = 1;
  28         public static final int set_gps = 2;
  29         public static final int set_data = 4;
  30
  31         public int set;
  32
  33         static final double filter_len = 2.0;
  34         static final double ascent_filter_len = 0.5;
  35         static final double descent_filter_len = 5.0;
  36
  37         /* derived data */
  38
  39         public long     received_time;
  40
  41         public int      rssi;
  42         public int      status;
  43
  44         class AltosValue {
  45                 double  value;
  46                 double  prev_value;
  47                 private double  max_value;
  48                 private double  set_time;
  49                 private double  prev_set_time;
  50
  51                 boolean can_max() { return true; }
  52
  53                 void set(double new_value, double time) {
  54                         if (new_value != AltosLib.MISSING) {
  55                                 value = new_value;
  56                                 if (can_max() && (max_value == AltosLib.MISSING || value > max_value))
  57                                         max_value = value;
  58                                 set_time = time;
  59                         }
  60                 }
  61
  62                 void set_filtered(double new_value, double time) {
  63                         if (prev_value != AltosLib.MISSING) {
  64                                 double f = 1/Math.exp((time - prev_set_time) / filter_len);
  65                                 new_value = f * new_value + (1-f) * prev_value;
  66                         }
  67                         set(new_value, time);
  68                 }
  69
  70                 double value() {
  71                         return value;
  72                 }
  73
  74                 double max() {
  75                         return max_value;
  76                 }
  77
  78                 double prev() {
  79                         return prev_value;
  80                 }
  81
  82                 double change() {
  83                         if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
  84                                 return value - prev_value;
  85                         return AltosLib.MISSING;
  86                 }
  87
  88                 double rate() {
  89                         double c = change();
  90                         double t = set_time - prev_set_time;
  91
  92                         if (c != AltosLib.MISSING && t != 0)
  93                                 return c / t;
  94                         return AltosLib.MISSING;
  95                 }
  96
  97                 double integrate() {
  98                         if (value == AltosLib.MISSING)
  99                                 return AltosLib.MISSING;
 100                         if (prev_value == AltosLib.MISSING)
 101                                 return AltosLib.MISSING;
 102
 103                         return (value + prev_value) / 2 * (set_time - prev_set_time);
 104                 }
 105
 106                 double time() {
 107                         return set_time;
 108                 }
 109
 110                 void set_derivative(AltosValue in) {
 111                         double  n = in.rate();
 112
 113                         if (n == AltosLib.MISSING)
 114                                 return;
 115
 116                         double  p = prev_value;
 117                         double  pt = prev_set_time;
 118
 119                         if (p == AltosLib.MISSING) {
 120                                 p = 0;
 121                                 pt = in.time() - 0.01;
 122                         }
 123
 124                         /* Clip changes to reduce noise */
 125                         double  ddt = in.time() - pt;
 126                         double  ddv = (n - p) / ddt;
 127
 128                         final double max = 100000;
 129
 130                         /* 100gs */
 131                         if (Math.abs(ddv) > max) {
 132                                 if (n > p)
 133                                         n = p + ddt * max;
 134                                 else
 135                                         n = p - ddt * max;
 136                         }
 137
 138                         double filter_len;
 139
 140                         if (ascent)
 141                                 filter_len = ascent_filter_len;
 142                         else
 143                                 filter_len = descent_filter_len;
 144
 145                         double f = 1/Math.exp(ddt/ filter_len);
 146                         n = p * f + n * (1-f);
 147
 148                         set(n, in.time());
 149                 }
 150
 151                 void set_integral(AltosValue in) {
 152                         double  change = in.integrate();
 153
 154                         if (change != AltosLib.MISSING) {
 155                                 double  prev = prev_value;
 156                                 if (prev == AltosLib.MISSING)
 157                                         prev = 0;
 158                                 set(prev + change, in.time());
 159                         }
 160                 }
 161
 162                 void copy(AltosValue old) {
 163                         value = old.value;
 164                         set_time = old.set_time;
 165                         prev_value = old.value;
 166                         prev_set_time = old.set_time;
 167                         max_value = old.max_value;
 168                 }
 169
 170                 void finish_update() {
 171                         prev_value = value;
 172                         prev_set_time = set_time;
 173                 }
 174
 175                 AltosValue() {
 176                         value = AltosLib.MISSING;
 177                         prev_value = AltosLib.MISSING;
 178                         max_value = AltosLib.MISSING;
 179                 }
 180
 181         }
 182
 183         class AltosCValue {
 184
 185                 class AltosIValue extends AltosValue {
 186                         boolean can_max() {
 187                                 return c_can_max();
 188                         }
 189
 190                         AltosIValue() {
 191                                 super();
 192                         }
 193                 };
 194
 195                 public AltosIValue      measured;
 196                 public AltosIValue      computed;
 197
 198                 boolean can_max() { return true; }
 199
 200                 boolean c_can_max() { return can_max(); }
 201
 202                 double value() {
 203                         double v = measured.value();
 204                         if (v != AltosLib.MISSING)
 205                                 return v;
 206                         return computed.value();
 207                 }
 208
 209                 boolean is_measured() {
 210                         return measured.value() != AltosLib.MISSING;
 211                 }
 212
 213                 double max() {
 214                         double m = measured.max();
 215
 216                         if (m != AltosLib.MISSING)
 217                                 return m;
 218                         return computed.max();
 219                 }
 220
 221                 double prev_value() {
 222                         if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
 223                                 return measured.prev_value;
 224                         return computed.prev_value;
 225                 }
 226
 227                 AltosValue altos_value() {
 228                         if (measured.value() != AltosLib.MISSING)
 229                                 return measured;
 230                         return computed;
 231                 }
 232
 233                 double change() {
 234                         double c = measured.change();
 235                         if (c == AltosLib.MISSING)
 236                                 c = computed.change();
 237                         return c;
 238                 }
 239
 240                 double rate() {
 241                         double r = measured.rate();
 242                         if (r == AltosLib.MISSING)
 243                                 r = computed.rate();
 244                         return r;
 245                 }
 246
 247                 void set_measured(double new_value, double time) {
 248                         measured.set(new_value, time);
 249                 }
 250
 251                 void set_computed(double new_value, double time) {
 252                         computed.set(new_value, time);
 253                 }
 254
 255                 void set_derivative(AltosValue in) {
 256                         computed.set_derivative(in);
 257                 }
 258
 259                 void set_derivative(AltosCValue in) {
 260                         set_derivative(in.altos_value());
 261                 }
 262
 263                 void set_integral(AltosValue in) {
 264                         computed.set_integral(in);
 265                 }
 266
 267                 void set_integral(AltosCValue in) {
 268                         set_integral(in.altos_value());
 269                 }
 270
 271                 void copy(AltosCValue old) {
 272                         measured.copy(old.measured);
 273                         computed.copy(old.computed);
 274                 }
 275
 276                 void finish_update() {
 277                         measured.finish_update();
 278                         computed.finish_update();
 279                 }
 280
 281                 public AltosCValue() {
 282                         measured = new AltosIValue();
 283                         computed = new AltosIValue();
 284                 }
 285         }
 286
 287         public boolean  landed;
 288         public boolean  ascent; /* going up? */
 289         public boolean  boost;  /* under power */
 290
 291         private double pressure_to_altitude(double p) {
 292                 if (p == AltosLib.MISSING)
 293                         return AltosLib.MISSING;
 294                 return AltosConvert.pressure_to_altitude(p);
 295         }
 296
 297         private AltosCValue ground_altitude;
 298
 299         public double ground_altitude() {
 300                 return ground_altitude.value();
 301         }
 302
 303         public void set_ground_altitude(double a) {
 304                 ground_altitude.set_measured(a, time);
 305         }
 306
 307         class AltosGpsGroundAltitude extends AltosValue {
 308                 void set(double a, double t) {
 309                         super.set(a, t);
 310                         pad_alt = value();
 311                         gps_altitude.set_gps_height();
 312                 }
 313
 314                 void set_filtered(double a, double t) {
 315                         super.set_filtered(a, t);
 316                         pad_alt = value();
 317                         gps_altitude.set_gps_height();
 318                 }
 319
 320                 AltosGpsGroundAltitude() {
 321                         super();
 322                 }
 323         }
 324
 325         private AltosGpsGroundAltitude gps_ground_altitude;
 326
 327         public double gps_ground_altitude() {
 328                 return gps_ground_altitude.value();
 329         }
 330
 331         public void set_gps_ground_altitude(double a) {
 332                 gps_ground_altitude.set(a, time);
 333         }
 334
 335         class AltosGroundPressure extends AltosCValue {
 336                 void set_filtered(double p, double time) {
 337                         computed.set_filtered(p, time);
 338                         if (!is_measured())
 339                                 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
 340                 }
 341
 342                 void set_measured(double p, double time) {
 343                         super.set_measured(p, time);
 344                         ground_altitude.set_computed(pressure_to_altitude(p), time);
 345                 }
 346
 347                 AltosGroundPressure () {
 348                         super();
 349                 }
 350         }
 351
 352         private AltosGroundPressure ground_pressure;
 353
 354         public double ground_pressure() {
 355                 return ground_pressure.value();
 356         }
 357
 358         public void set_ground_pressure (double pressure) {
 359                 ground_pressure.set_measured(pressure, time);
 360         }
 361
 362         class AltosAltitude extends AltosCValue {
 363
 364                 private void set_speed(AltosValue v) {
 365                         if (!acceleration.is_measured() || !ascent)
 366                                 speed.set_derivative(this);
 367                 }
 368
 369                 void set_computed(double a, double time) {
 370                         super.set_computed(a,time);
 371                         set_speed(computed);
 372                         set |= set_position;
 373                 }
 374
 375                 void set_measured(double a, double time) {
 376                         super.set_measured(a,time);
 377                         set_speed(measured);
 378                         set |= set_position;
 379                 }
 380
 381                 AltosAltitude() {
 382                         super();
 383                 }
 384         }
 385
 386         private AltosAltitude   altitude;
 387
 388         class AltosGpsAltitude extends AltosValue {
 389
 390                 private void set_gps_height() {
 391                         double  a = value();
 392                         double  g = gps_ground_altitude.value();
 393
 394                         if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 395                                 gps_height = a - g;
 396                         else
 397                                 gps_height = AltosLib.MISSING;
 398                 }
 399
 400                 void set(double a, double t) {
 401                         super.set(a, t);
 402                         set_gps_height();
 403                 }
 404
 405                 AltosGpsAltitude() {
 406                         super();
 407                 }
 408         }
 409
 410         private AltosGpsAltitude        gps_altitude;
 411
 412         private AltosValue              gps_ground_speed;
 413         private AltosValue              gps_ascent_rate;
 414         private AltosValue              gps_course;
 415         private AltosValue              gps_speed;
 416
 417         public double altitude() {
 418                 double a = altitude.value();
 419                 if (a != AltosLib.MISSING)
 420                         return a;
 421                 return gps_altitude.value();
 422         }
 423
 424         public double max_altitude() {
 425                 double a = altitude.max();
 426                 if (a != AltosLib.MISSING)
 427                         return a;
 428                 return gps_altitude.max();
 429         }
 430
 431         public void set_altitude(double new_altitude) {
 432                 double old_altitude = altitude.value();
 433                 if (old_altitude != AltosLib.MISSING) {
 434                         while (old_altitude - new_altitude > 32000)
 435                                 new_altitude += 65536.0;
 436                 }
 437                 altitude.set_measured(new_altitude, time);
 438         }
 439
 440         public double gps_altitude() {
 441                 return gps_altitude.value();
 442         }
 443
 444         public double max_gps_altitude() {
 445                 return gps_altitude.max();
 446         }
 447
 448         public void set_gps_altitude(double new_gps_altitude) {
 449                 gps_altitude.set(new_gps_altitude, time);
 450         }
 451
 452         public double gps_ground_speed() {
 453                 return gps_ground_speed.value();
 454         }
 455
 456         public double max_gps_ground_speed() {
 457                 return gps_ground_speed.max();
 458         }
 459
 460         public double gps_ascent_rate() {
 461                 return gps_ascent_rate.value();
 462         }
 463
 464         public double max_gps_ascent_rate() {
 465                 return gps_ascent_rate.max();
 466         }
 467
 468         public double gps_course() {
 469                 return gps_course.value();
 470         }
 471
 472         public double gps_speed() {
 473                 return gps_speed.value();
 474         }
 475
 476         public double max_gps_speed() {
 477                 return gps_speed.max();
 478         }
 479
 480         class AltosPressure extends AltosValue {
 481                 void set(double p, double time) {
 482                         super.set(p, time);
 483                         if (state() == AltosLib.ao_flight_pad)
 484                                 ground_pressure.set_filtered(p, time);
 485                         double a = pressure_to_altitude(p);
 486                         altitude.set_computed(a, time);
 487                 }
 488
 489                 AltosPressure() {
 490                         super();
 491                 }
 492         }
 493
 494         private AltosPressure   pressure;
 495
 496         public double pressure() {
 497                 return pressure.value();
 498         }
 499
 500         public void set_pressure(double p) {
 501                 pressure.set(p, time);
 502         }
 503
 504         public void set_thrust(double N) {
 505         }
 506
 507         public double baro_height() {
 508                 double a = altitude();
 509                 double g = ground_altitude();
 510                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 511                         return a - g;
 512                 return AltosLib.MISSING;
 513         }
 514
 515         public double height() {
 516                 double k = kalman_height.value();
 517                 if (k != AltosLib.MISSING)
 518                         return k;
 519
 520                 double b = baro_height();
 521                 if (b != AltosLib.MISSING)
 522                         return b;
 523
 524                 return gps_height();
 525         }
 526
 527         public double max_height() {
 528                 double  k = kalman_height.max();
 529                 if (k != AltosLib.MISSING)
 530                         return k;
 531
 532                 double a = altitude.max();
 533                 double g = ground_altitude();
 534                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 535                         return a - g;
 536                 return max_gps_height();
 537         }
 538
 539         public double gps_height() {
 540                 double a = gps_altitude();
 541                 double g = gps_ground_altitude();
 542
 543                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 544                         return a - g;
 545                 return AltosLib.MISSING;
 546         }
 547
 548         public double max_gps_height() {
 549                 double a = gps_altitude.max();
 550                 double g = gps_ground_altitude();
 551
 552                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 553                         return a - g;
 554                 return AltosLib.MISSING;
 555         }
 556
 557         class AltosSpeed extends AltosCValue {
 558
 559                 boolean can_max() {
 560                         return state() < AltosLib.ao_flight_fast || state() == AltosLib.ao_flight_stateless;
 561                 }
 562
 563                 void set_accel() {
 564                         acceleration.set_derivative(this);
 565                 }
 566
 567                 void set_derivative(AltosCValue in) {
 568                         super.set_derivative(in);
 569                         set_accel();
 570                 }
 571
 572                 void set_computed(double new_value, double time) {
 573                         super.set_computed(new_value, time);
 574                         set_accel();
 575                 }
 576
 577                 void set_measured(double new_value, double time) {
 578                         super.set_measured(new_value, time);
 579                         set_accel();
 580                 }
 581
 582                 AltosSpeed() {
 583                         super();
 584                 }
 585         }
 586
 587         private AltosSpeed speed;
 588
 589         public double speed() {
 590                 double v = kalman_speed.value();
 591                 if (v != AltosLib.MISSING)
 592                         return v;
 593                 v = speed.value();
 594                 if (v != AltosLib.MISSING)
 595                         return v;
 596                 v = gps_speed();
 597                 if (v != AltosLib.MISSING)
 598                         return v;
 599                 return AltosLib.MISSING;
 600         }
 601
 602         public double max_speed() {
 603                 double v = kalman_speed.max();
 604                 if (v != AltosLib.MISSING)
 605                         return v;
 606                 v = speed.max();
 607                 if (v != AltosLib.MISSING)
 608                         return v;
 609                 v = max_gps_speed();
 610                 if (v != AltosLib.MISSING)
 611                         return v;
 612                 return AltosLib.MISSING;
 613         }
 614
 615         class AltosAccel extends AltosCValue {
 616
 617                 boolean can_max() {
 618                         return state() < AltosLib.ao_flight_fast || state() == AltosLib.ao_flight_stateless;
 619                 }
 620
 621                 void set_measured(double a, double time) {
 622                         super.set_measured(a, time);
 623                         if (ascent)
 624                                 speed.set_integral(this.measured);
 625                 }
 626
 627                 AltosAccel() {
 628                         super();
 629                 }
 630         }
 631
 632         AltosAccel acceleration;
 633
 634         public double acceleration() {
 635                 return acceleration.value();
 636         }
 637
 638         public double max_acceleration() {
 639                 return acceleration.max();
 640         }
 641
 642         public AltosCValue      orient;
 643
 644         public void set_orient(double new_orient) {
 645                 orient.set_measured(new_orient, time);
 646         }
 647
 648         public double orient() {
 649                 return orient.value();
 650         }
 651
 652         public double max_orient() {
 653                 return orient.max();
 654         }
 655
 656         public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 657
 658         public void set_kalman(double height, double speed, double acceleration) {
 659                 double old_height = kalman_height.value();
 660                 if (old_height != AltosLib.MISSING) {
 661                         while (old_height - height > 32000)
 662                                 height += 65536;
 663                 }
 664                 kalman_height.set(height, time);
 665                 kalman_speed.set(speed, time);
 666                 kalman_acceleration.set(acceleration, time);
 667         }
 668
 669         public double   battery_voltage;
 670         public double   pyro_voltage;
 671         public double   temperature;
 672         public double   apogee_voltage;
 673         public double   main_voltage;
 674
 675         public double   igniter_voltage[];
 676
 677         public AltosGPS gps;
 678         public boolean  gps_pending;
 679
 680         public static final int MIN_PAD_SAMPLES = 10;
 681
 682         public int      npad;
 683         public int      gps_waiting;
 684         public boolean  gps_ready;
 685
 686         public int      ngps;
 687
 688         public AltosGreatCircle from_pad;
 689         public double   elevation;      /* from pad */
 690         public double   distance;       /* distance along ground */
 691         public double   range;          /* total distance */
 692
 693         public double   gps_height;
 694
 695         public double pad_lat, pad_lon, pad_alt;
 696
 697         public int      speak_tick;
 698         public double   speak_altitude;
 699
 700         public double   ground_accel;
 701
 702         public AltosCompanion   companion;
 703
 704         public int      pyro_fired;
 705
 706         public void set_npad(int npad) {
 707                 this.npad = npad;
 708                 gps_waiting = MIN_PAD_SAMPLES - npad;
 709                 if (this.gps_waiting < 0)
 710                         gps_waiting = 0;
 711                 gps_ready = gps_waiting == 0;
 712         }
 713
 714         public void init() {
 715                 super.init();
 716
 717                 set = 0;
 718
 719                 received_time = System.currentTimeMillis();
 720                 landed = false;
 721                 boost = false;
 722                 rssi = AltosLib.MISSING;
 723                 status = 0;
 724
 725                 ground_altitude = new AltosCValue();
 726                 ground_pressure = new AltosGroundPressure();
 727                 altitude = new AltosAltitude();
 728                 pressure = new AltosPressure();
 729                 speed = new AltosSpeed();
 730                 acceleration = new AltosAccel();
 731                 orient = new AltosCValue();
 732
 733                 temperature = AltosLib.MISSING;
 734                 battery_voltage = AltosLib.MISSING;
 735                 pyro_voltage = AltosLib.MISSING;
 736                 apogee_voltage = AltosLib.MISSING;
 737                 main_voltage = AltosLib.MISSING;
 738                 igniter_voltage = null;
 739
 740                 kalman_height = new AltosValue();
 741                 kalman_speed = new AltosValue();
 742                 kalman_acceleration = new AltosValue();
 743
 744                 gps = null;
 745                 gps_pending = false;
 746
 747                 last_imu_time = AltosLib.MISSING;
 748                 rotation = null;
 749
 750                 accel_ground_along = AltosLib.MISSING;
 751                 accel_ground_across = AltosLib.MISSING;
 752                 accel_ground_through = AltosLib.MISSING;
 753
 754                 accel_along = AltosLib.MISSING;
 755                 accel_across = AltosLib.MISSING;
 756                 accel_through = AltosLib.MISSING;
 757
 758                 gyro_roll = AltosLib.MISSING;
 759                 gyro_pitch = AltosLib.MISSING;
 760                 gyro_yaw = AltosLib.MISSING;
 761
 762                 mag_along = AltosLib.MISSING;
 763                 mag_across = AltosLib.MISSING;
 764                 mag_through = AltosLib.MISSING;
 765
 766                 set_npad(0);
 767                 ngps = 0;
 768
 769                 from_pad = null;
 770                 elevation = AltosLib.MISSING;
 771                 distance = AltosLib.MISSING;
 772                 range = AltosLib.MISSING;
 773                 gps_height = AltosLib.MISSING;
 774
 775                 pad_lat = AltosLib.MISSING;
 776                 pad_lon = AltosLib.MISSING;
 777                 pad_alt = AltosLib.MISSING;
 778
 779                 gps_altitude = new AltosGpsAltitude();
 780                 gps_ground_altitude = new AltosGpsGroundAltitude();
 781                 gps_ground_speed = new AltosValue();
 782                 gps_speed = new AltosValue();
 783                 gps_ascent_rate = new AltosValue();
 784                 gps_course = new AltosValue();
 785
 786                 speak_tick = AltosLib.MISSING;
 787                 speak_altitude = AltosLib.MISSING;
 788
 789                 ground_accel = AltosLib.MISSING;
 790
 791                 companion = null;
 792
 793                 pyro_fired = 0;
 794         }
 795
 796         void finish_update() {
 797                 ground_altitude.finish_update();
 798                 altitude.finish_update();
 799                 pressure.finish_update();
 800                 speed.finish_update();
 801                 acceleration.finish_update();
 802                 orient.finish_update();
 803
 804                 kalman_height.finish_update();
 805                 kalman_speed.finish_update();
 806                 kalman_acceleration.finish_update();
 807         }
 808
 809         void update_time() {
 810         }
 811
 812         void update_gps() {
 813                 elevation = AltosLib.MISSING;
 814                 distance = AltosLib.MISSING;
 815                 range = AltosLib.MISSING;
 816
 817                 if (gps == null)
 818                         return;
 819
 820                 if (gps.locked && gps.nsat >= 4) {
 821                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 822                         if (state() == AltosLib.ao_flight_pad || state() == AltosLib.ao_flight_stateless) {
 823                                 set_npad(npad+1);
 824                                 if (pad_lat != AltosLib.MISSING && (npad < 10 || state() == AltosLib.ao_flight_pad)) {
 825                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
 826                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
 827                                         gps_ground_altitude.set_filtered(gps.alt, time);
 828                                 }
 829                         }
 830                         if (pad_lat == AltosLib.MISSING) {
 831                                 pad_lat = gps.lat;
 832                                 pad_lon = gps.lon;
 833                                 gps_ground_altitude.set(gps.alt, time);
 834                         }
 835                         gps_altitude.set(gps.alt, time);
 836                         if (gps.climb_rate != AltosLib.MISSING)
 837                                 gps_ascent_rate.set(gps.climb_rate, time);
 838                         if (gps.ground_speed != AltosLib.MISSING)
 839                                 gps_ground_speed.set(gps.ground_speed, time);
 840                         if (gps.climb_rate != AltosLib.MISSING && gps.ground_speed != AltosLib.MISSING)
 841                                 gps_speed.set(Math.sqrt(gps.ground_speed * gps.ground_speed +
 842                                                         gps.climb_rate * gps.climb_rate), time);
 843                         if (gps.course != AltosLib.MISSING)
 844                                 gps_course.set(gps.course, time);
 845                 }
 846                 if (gps.lat != 0 && gps.lon != 0 &&
 847                     pad_lat != AltosLib.MISSING &&
 848                     pad_lon != AltosLib.MISSING)
 849                 {
 850                         double h = height();
 851
 852                         if (h == AltosLib.MISSING)
 853                                 h = 0;
 854                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 855                         elevation = from_pad.elevation;
 856                         distance = from_pad.distance;
 857                         range = from_pad.range;
 858                 }
 859         }
 860
 861         public String state_name() {
 862                 return AltosLib.state_name(state());
 863         }
 864
 865         public void set_state(int state) {
 866                 super.set_state(state);
 867                 ascent = (AltosLib.ao_flight_boost <= state() &&
 868                           state() <= AltosLib.ao_flight_coast);
 869                 boost = (AltosLib.ao_flight_boost == state());
 870         }
 871
 872         public int rssi() {
 873                 if (rssi == AltosLib.MISSING)
 874                         return 0;
 875                 return rssi;
 876         }
 877
 878         public void set_rssi(int rssi, int status) {
 879                 if (rssi != AltosLib.MISSING) {
 880                         this.rssi = rssi;
 881                         this.status = status;
 882                 }
 883         }
 884
 885         public void set_received_time(long ms) {
 886                 received_time = ms;
 887         }
 888
 889         public void set_gps(AltosGPS gps) {
 890                 super.set_gps(gps);
 891                 if (gps != null) {
 892                         this.gps = gps;
 893                         update_gps();
 894                         set |= set_gps;
 895                 }
 896         }
 897
 898         public AltosRotation    rotation;
 899
 900         public double   accel_ground_along, accel_ground_across, accel_ground_through;
 901
 902         void update_pad_rotation() {
 903                 if (cal_data().pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
 904                         rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data().accel_zero_across),
 905                                                      AltosIMU.convert_accel(accel_ground_through - cal_data().accel_zero_through),
 906                                                      AltosIMU.convert_accel(accel_ground_along - cal_data().accel_zero_along),
 907                                                      cal_data().pad_orientation);
 908                         orient.set_computed(rotation.tilt(), time);
 909                 }
 910         }
 911
 912         public void set_accel_ground(double ground_along, double ground_across, double ground_through) {
 913                 accel_ground_along = ground_along;
 914                 accel_ground_across = ground_across;
 915                 accel_ground_through = ground_through;
 916                 update_pad_rotation();
 917         }
 918
 919         public double   last_imu_time;
 920
 921         private void update_orient() {
 922                 if (last_imu_time != AltosLib.MISSING) {
 923                         double  t = time - last_imu_time;
 924
 925                         if (t > 0 && gyro_pitch != AltosLib.MISSING && rotation != null) {
 926                                 double  pitch = AltosConvert.degrees_to_radians(gyro_pitch) * t;
 927                                 double  yaw = AltosConvert.degrees_to_radians(gyro_yaw) * t;
 928                                 double  roll = AltosConvert.degrees_to_radians(gyro_roll) * t;
 929
 930                                 rotation.rotate(pitch, yaw, roll);
 931                                 orient.set_computed(rotation.tilt(), time);
 932                         }
 933                 }
 934                 last_imu_time = time;
 935         }
 936
 937         private double  gyro_roll, gyro_pitch, gyro_yaw;
 938
 939         public void set_gyro(double roll, double pitch, double yaw) {
 940                 gyro_roll = roll;
 941                 gyro_pitch = pitch;
 942                 gyro_yaw = yaw;
 943                 update_orient();
 944         }
 945
 946         private double accel_along, accel_across, accel_through;
 947
 948         public void set_accel(double along, double across, double through) {
 949                 accel_along = along;
 950                 accel_across = across;
 951                 accel_through = through;
 952                 update_orient();
 953         }
 954
 955         public double accel_along() {
 956                 return accel_along;
 957         }
 958
 959         public double accel_across() {
 960                 return accel_across;
 961         }
 962
 963         public double accel_through() {
 964                 return accel_through;
 965         }
 966
 967         public double gyro_roll() {
 968                 return gyro_roll;
 969         }
 970
 971         public double gyro_pitch() {
 972                 return gyro_pitch;
 973         }
 974
 975         public double gyro_yaw() {
 976                 return gyro_yaw;
 977         }
 978
 979         private double mag_along, mag_across, mag_through;
 980
 981         public void set_mag(double along, double across, double through) {
 982                 mag_along = along;
 983                 mag_across = across;
 984                 mag_through = through;
 985         }
 986
 987         public double mag_along() {
 988                 return mag_along;
 989         }
 990
 991         public double mag_across() {
 992                 return mag_across;
 993         }
 994
 995         public double mag_through() {
 996                 return mag_through;
 997         }
 998
 999         public void set_companion(AltosCompanion companion) {
1000                 this.companion = companion;
1001         }
1002
1003         public void set_acceleration(double acceleration) {
1004                 if (acceleration != AltosLib.MISSING) {
1005                         this.acceleration.set_measured(acceleration, time);
1006                         set |= set_data;
1007                 }
1008         }
1009
1010         public void set_temperature(double temperature) {
1011                 if (temperature != AltosLib.MISSING) {
1012                         this.temperature = temperature;
1013                         set |= set_data;
1014                 }
1015         }
1016
1017         public void set_battery_voltage(double battery_voltage) {
1018                 if (battery_voltage != AltosLib.MISSING) {
1019                         this.battery_voltage = battery_voltage;
1020                         set |= set_data;
1021                 }
1022         }
1023
1024         public void set_pyro_voltage(double pyro_voltage) {
1025                 if (pyro_voltage != AltosLib.MISSING) {
1026                         this.pyro_voltage = pyro_voltage;
1027                         set |= set_data;
1028                 }
1029         }
1030
1031         public void set_apogee_voltage(double apogee_voltage) {
1032                 if (apogee_voltage != AltosLib.MISSING) {
1033                         this.apogee_voltage = apogee_voltage;
1034                         set |= set_data;
1035                 }
1036         }
1037
1038         public void set_main_voltage(double main_voltage) {
1039                 if (main_voltage != AltosLib.MISSING) {
1040                         this.main_voltage = main_voltage;
1041                         set |= set_data;
1042                 }
1043         }
1044
1045         public void set_igniter_voltage(double[] voltage) {
1046                 this.igniter_voltage = voltage;
1047         }
1048
1049         public void set_pyro_fired(int fired) {
1050                 this.pyro_fired = fired;
1051         }
1052
1053         public AltosState() {
1054                 init();
1055         }
1056
1057         public AltosState (AltosCalData cal_data) {
1058                 super(cal_data);
1059                 init();
1060         }
1061 }