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_4;
  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                 boolean can_max() { return true; }
  54
  55                 void set(double new_value, double time) {
  56                         if (new_value != AltosLib.MISSING) {
  57                                 value = new_value;
  58                                 if (can_max() && (max_value == AltosLib.MISSING || value > max_value))
  59                                         max_value = value;
  60                                 set_time = time;
  61                         }
  62                 }
  63
  64                 void set_filtered(double new_value, double time) {
  65                         if (prev_value != AltosLib.MISSING)
  66                                 new_value = (prev_value * 15.0 + new_value) / 16.0;
  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         class AltosCValue {
 183                 AltosValue      measured;
 184                 AltosValue      computed;
 185
 186                 double value() {
 187                         double v = measured.value();
 188                         if (v != AltosLib.MISSING)
 189                                 return v;
 190                         return computed.value();
 191                 }
 192
 193                 boolean is_measured() {
 194                         return measured.value() != AltosLib.MISSING;
 195                 }
 196
 197                 double max() {
 198                         double m = measured.max();
 199
 200                         if (m != AltosLib.MISSING)
 201                                 return m;
 202                         return computed.max();
 203                 }
 204
 205                 double prev_value() {
 206                         if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
 207                                 return measured.prev_value;
 208                         return computed.prev_value;
 209                 }
 210
 211                 AltosValue altos_value() {
 212                         if (measured.value() != AltosLib.MISSING)
 213                                 return measured;
 214                         return computed;
 215                 }
 216
 217                 double change() {
 218                         double c = measured.change();
 219                         if (c == AltosLib.MISSING)
 220                                 c = computed.change();
 221                         return c;
 222                 }
 223
 224                 double rate() {
 225                         double r = measured.rate();
 226                         if (r == AltosLib.MISSING)
 227                                 r = computed.rate();
 228                         return r;
 229                 }
 230
 231                 void set_measured(double new_value, double time) {
 232                         measured.set(new_value, time);
 233                 }
 234
 235                 void set_computed(double new_value, double time) {
 236                         computed.set(new_value, time);
 237                 }
 238
 239                 void set_derivative(AltosValue in) {
 240                         computed.set_derivative(in);
 241                 }
 242
 243                 void set_derivative(AltosCValue in) {
 244                         set_derivative(in.altos_value());
 245                 }
 246
 247                 void set_integral(AltosValue in) {
 248                         computed.set_integral(in);
 249                 }
 250
 251                 void set_integral(AltosCValue in) {
 252                         set_integral(in.altos_value());
 253                 }
 254
 255                 void copy(AltosCValue old) {
 256                         measured.copy(old.measured);
 257                         computed.copy(old.computed);
 258                 }
 259
 260                 void finish_update() {
 261                         measured.finish_update();
 262                         computed.finish_update();
 263                 }
 264
 265                 AltosCValue() {
 266                         measured = new AltosValue();
 267                         computed = new AltosValue();
 268                 }
 269         }
 270
 271         public int      state;
 272         public int      flight;
 273         public int      serial;
 274         public int      receiver_serial;
 275         public boolean  landed;
 276         public boolean  ascent; /* going up? */
 277         public boolean  boost;  /* under power */
 278         public int      rssi;
 279         public int      status;
 280         public int      device_type;
 281         public int      config_major;
 282         public int      config_minor;
 283         public int      apogee_delay;
 284         public int      main_deploy;
 285         public int      flight_log_max;
 286
 287         private double pressure_to_altitude(double p) {
 288                 if (p == AltosLib.MISSING)
 289                         return AltosLib.MISSING;
 290                 return AltosConvert.pressure_to_altitude(p);
 291         }
 292
 293         private AltosCValue ground_altitude;
 294
 295         public double ground_altitude() {
 296                 return ground_altitude.value();
 297         }
 298
 299         public void set_ground_altitude(double a) {
 300                 ground_altitude.set_measured(a, time);
 301         }
 302
 303         class AltosGpsGroundAltitude extends AltosValue {
 304                 void set(double a, double t) {
 305                         super.set(a, t);
 306                         pad_alt = value();
 307                         gps_altitude.set_gps_height();
 308                 }
 309
 310                 void set_filtered(double a, double t) {
 311                         super.set_filtered(a, t);
 312                         pad_alt = value();
 313                         gps_altitude.set_gps_height();
 314                 }
 315         }
 316
 317         private AltosGpsGroundAltitude gps_ground_altitude;
 318
 319         public double gps_ground_altitude() {
 320                 return gps_ground_altitude.value();
 321         }
 322
 323         public void set_gps_ground_altitude(double a) {
 324                 gps_ground_altitude.set(a, time);
 325         }
 326
 327         class AltosGroundPressure extends AltosCValue {
 328                 void set_filtered(double p, double time) {
 329                         computed.set_filtered(p, time);
 330                         if (!is_measured())
 331                                 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
 332                 }
 333
 334                 void set_measured(double p, double time) {
 335                         super.set_measured(p, time);
 336                         ground_altitude.set_computed(pressure_to_altitude(p), time);
 337                 }
 338         }
 339
 340         private AltosGroundPressure ground_pressure;
 341
 342         public double ground_pressure() {
 343                 return ground_pressure.value();
 344         }
 345
 346         public void set_ground_pressure (double pressure) {
 347                 ground_pressure.set_measured(pressure, time);
 348         }
 349
 350         class AltosAltitude extends AltosCValue {
 351
 352                 private void set_speed(AltosValue v) {
 353                         if (!acceleration.is_measured() || !ascent)
 354                                 speed.set_derivative(this);
 355                 }
 356
 357                 void set_computed(double a, double time) {
 358                         super.set_computed(a,time);
 359                         set_speed(computed);
 360                         set |= set_position;
 361                 }
 362
 363                 void set_measured(double a, double time) {
 364                         super.set_measured(a,time);
 365                         set_speed(measured);
 366                         set |= set_position;
 367                 }
 368         }
 369
 370         private AltosAltitude   altitude;
 371
 372         class AltosGpsAltitude extends AltosValue {
 373
 374                 private void set_gps_height() {
 375                         double  a = value();
 376                         double  g = gps_ground_altitude.value();
 377
 378                         if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 379                                 gps_height = a - g;
 380                         else
 381                                 gps_height = AltosLib.MISSING;
 382                 }
 383
 384                 void set(double a, double t) {
 385                         super.set(a, t);
 386                         set_gps_height();
 387                 }
 388         }
 389
 390         private AltosGpsAltitude        gps_altitude;
 391
 392         public double altitude() {
 393                 double a = altitude.value();
 394                 if (a != AltosLib.MISSING)
 395                         return a;
 396                 return gps_altitude.value();
 397         }
 398
 399         public double max_altitude() {
 400                 double a = altitude.max();
 401                 if (a != AltosLib.MISSING)
 402                         return a;
 403                 return gps_altitude.max();
 404         }
 405
 406         public void set_altitude(double new_altitude) {
 407                 altitude.set_measured(new_altitude, time);
 408         }
 409
 410         public double gps_altitude() {
 411                 return gps_altitude.value();
 412         }
 413
 414         public double max_gps_altitude() {
 415                 return gps_altitude.max();
 416         }
 417
 418         public void set_gps_altitude(double new_gps_altitude) {
 419                 gps_altitude.set(new_gps_altitude, time);
 420         }
 421
 422         class AltosPressure extends AltosValue {
 423                 void set(double p, double time) {
 424                         super.set(p, time);
 425                         if (state == AltosLib.ao_flight_pad)
 426                                 ground_pressure.set_filtered(p, time);
 427                         double a = pressure_to_altitude(p);
 428                         altitude.set_computed(a, time);
 429                 }
 430         }
 431
 432         private AltosPressure   pressure;
 433
 434         public double pressure() {
 435                 return pressure.value();
 436         }
 437
 438         public void set_pressure(double p) {
 439                 pressure.set(p, time);
 440         }
 441
 442         public double height() {
 443                 double k = kalman_height.value();
 444                 if (k != AltosLib.MISSING)
 445                         return k;
 446
 447                 double a = altitude();
 448                 double g = ground_altitude();
 449                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 450                         return a - g;
 451                 return AltosLib.MISSING;
 452         }
 453
 454         public double max_height() {
 455                 double  k = kalman_height.max();
 456                 if (k != AltosLib.MISSING)
 457                         return k;
 458
 459                 double a = altitude.max();
 460                 double g = ground_altitude();
 461                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 462                         return a - g;
 463                 return AltosLib.MISSING;
 464         }
 465
 466         public double gps_height() {
 467                 double a = gps_altitude();
 468                 double g = gps_ground_altitude();
 469
 470                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 471                         return a - g;
 472                 return AltosLib.MISSING;
 473         }
 474
 475         public double max_gps_height() {
 476                 double a = gps_altitude.max();
 477                 double g = gps_ground_altitude();
 478
 479                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 480                         return a - g;
 481                 return AltosLib.MISSING;
 482         }
 483
 484         class AltosSpeed extends AltosCValue {
 485
 486                 boolean can_max() {
 487                         return state < AltosLib.ao_flight_fast;
 488                 }
 489
 490                 void set_accel() {
 491                         acceleration.set_derivative(this);
 492                 }
 493
 494                 void set_derivative(AltosCValue in) {
 495                         super.set_derivative(in);
 496                         set_accel();
 497                 }
 498
 499                 void set_computed(double new_value, double time) {
 500                         super.set_computed(new_value, time);
 501                         set_accel();
 502                 }
 503
 504                 void set_measured(double new_value, double time) {
 505                         super.set_measured(new_value, time);
 506                         set_accel();
 507                 }
 508         }
 509
 510         private AltosSpeed speed;
 511
 512         public double speed() {
 513                 double v = kalman_speed.value();
 514                 if (v != AltosLib.MISSING)
 515                         return v;
 516                 return speed.value();
 517         }
 518
 519         public double max_speed() {
 520                 double v = kalman_speed.max();
 521                 if (v != AltosLib.MISSING)
 522                         return v;
 523                 return speed.max();
 524         }
 525
 526         class AltosAccel extends AltosCValue {
 527
 528                 boolean can_max() {
 529                         return state < AltosLib.ao_flight_fast;
 530                 }
 531
 532                 void set_measured(double a, double time) {
 533                         super.set_measured(a, time);
 534                         if (ascent)
 535                                 speed.set_integral(this.measured);
 536                 }
 537         }
 538
 539         AltosAccel acceleration;
 540
 541         public double acceleration() {
 542                 return acceleration.value();
 543         }
 544
 545         public double max_acceleration() {
 546                 return acceleration.max();
 547         }
 548
 549         public AltosValue       orient;
 550
 551         public void set_orient(double new_orient) {
 552                 orient.set(new_orient, time);
 553         }
 554
 555         public double orient() {
 556                 return orient.value();
 557         }
 558
 559         public double max_orient() {
 560                 return orient.max();
 561         }
 562
 563         public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 564
 565         public void set_kalman(double height, double speed, double acceleration) {
 566                 kalman_height.set(height, time);
 567                 kalman_speed.set(speed, time);
 568                 kalman_acceleration.set(acceleration, time);
 569         }
 570
 571         public double   battery_voltage;
 572         public double   pyro_voltage;
 573         public double   temperature;
 574         public double   apogee_voltage;
 575         public double   main_voltage;
 576
 577         public double   ignitor_voltage[];
 578
 579         public AltosGPS gps;
 580         public AltosGPS temp_gps;
 581         public int temp_gps_sat_tick;
 582         public boolean  gps_pending;
 583         public int gps_sequence;
 584
 585         public AltosIMU imu;
 586         public AltosMag mag;
 587
 588         public static final int MIN_PAD_SAMPLES = 10;
 589
 590         public int      npad;
 591         public int      gps_waiting;
 592         public boolean  gps_ready;
 593
 594         public int      ngps;
 595
 596         public AltosGreatCircle from_pad;
 597         public double   elevation;      /* from pad */
 598         public double   range;          /* total distance */
 599
 600         public double   gps_height;
 601
 602         public double pad_lat, pad_lon, pad_alt;
 603
 604         public int      speak_tick;
 605         public double   speak_altitude;
 606
 607         public String   callsign;
 608         public String   firmware_version;
 609
 610         public double   accel_plus_g;
 611         public double   accel_minus_g;
 612         public double   accel;
 613         public double   ground_accel;
 614         public double   ground_accel_avg;
 615
 616         public int      log_format;
 617         public String   product;
 618
 619         public AltosMs5607      baro;
 620
 621         public AltosCompanion   companion;
 622
 623         public int      pyro_fired;
 624
 625         public void set_npad(int npad) {
 626                 this.npad = npad;
 627                 gps_waiting = MIN_PAD_SAMPLES - npad;
 628                 if (this.gps_waiting < 0)
 629                         gps_waiting = 0;
 630                 gps_ready = gps_waiting == 0;
 631         }
 632
 633         public void init() {
 634                 set = 0;
 635
 636                 received_time = System.currentTimeMillis();
 637                 time = AltosLib.MISSING;
 638                 time_change = AltosLib.MISSING;
 639                 prev_time = AltosLib.MISSING;
 640                 tick = AltosLib.MISSING;
 641                 prev_tick = AltosLib.MISSING;
 642                 boost_tick = AltosLib.MISSING;
 643                 state = AltosLib.ao_flight_invalid;
 644                 flight = AltosLib.MISSING;
 645                 landed = false;
 646                 boost = false;
 647                 rssi = AltosLib.MISSING;
 648                 status = 0;
 649                 device_type = AltosLib.MISSING;
 650                 config_major = AltosLib.MISSING;
 651                 config_minor = AltosLib.MISSING;
 652                 apogee_delay = AltosLib.MISSING;
 653                 main_deploy = AltosLib.MISSING;
 654                 flight_log_max = AltosLib.MISSING;
 655
 656                 ground_altitude = new AltosCValue();
 657                 ground_pressure = new AltosGroundPressure();
 658                 altitude = new AltosAltitude();
 659                 pressure = new AltosPressure();
 660                 speed = new AltosSpeed();
 661                 acceleration = new AltosAccel();
 662                 orient = new AltosValue();
 663
 664                 temperature = AltosLib.MISSING;
 665                 battery_voltage = AltosLib.MISSING;
 666                 pyro_voltage = AltosLib.MISSING;
 667                 apogee_voltage = AltosLib.MISSING;
 668                 main_voltage = AltosLib.MISSING;
 669                 ignitor_voltage = null;
 670
 671                 kalman_height = new AltosValue();
 672                 kalman_speed = new AltosValue();
 673                 kalman_acceleration = new AltosValue();
 674
 675                 gps = null;
 676                 temp_gps = null;
 677                 temp_gps_sat_tick = 0;
 678                 gps_sequence = 0;
 679                 gps_pending = false;
 680
 681                 imu = null;
 682                 mag = null;
 683
 684                 set_npad(0);
 685                 ngps = 0;
 686
 687                 from_pad = null;
 688                 elevation = AltosLib.MISSING;
 689                 range = AltosLib.MISSING;
 690                 gps_height = AltosLib.MISSING;
 691
 692                 pad_lat = AltosLib.MISSING;
 693                 pad_lon = AltosLib.MISSING;
 694                 pad_alt = AltosLib.MISSING;
 695
 696                 gps_altitude = new AltosGpsAltitude();
 697                 gps_ground_altitude = new AltosGpsGroundAltitude();
 698
 699                 speak_tick = AltosLib.MISSING;
 700                 speak_altitude = AltosLib.MISSING;
 701
 702                 callsign = null;
 703
 704                 accel_plus_g = AltosLib.MISSING;
 705                 accel_minus_g = AltosLib.MISSING;
 706                 accel = AltosLib.MISSING;
 707
 708                 ground_accel = AltosLib.MISSING;
 709                 ground_accel_avg = AltosLib.MISSING;
 710
 711                 log_format = AltosLib.MISSING;
 712                 product = null;
 713                 serial = AltosLib.MISSING;
 714                 receiver_serial = AltosLib.MISSING;
 715
 716                 baro = null;
 717                 companion = null;
 718
 719                 pyro_fired = 0;
 720         }
 721
 722         void finish_update() {
 723                 prev_tick = tick;
 724
 725                 ground_altitude.finish_update();
 726                 altitude.finish_update();
 727                 pressure.finish_update();
 728                 speed.finish_update();
 729                 acceleration.finish_update();
 730                 orient.finish_update();
 731
 732                 kalman_height.finish_update();
 733                 kalman_speed.finish_update();
 734                 kalman_acceleration.finish_update();
 735         }
 736
 737         void copy(AltosState old) {
 738
 739                 if (old == null) {
 740                         init();
 741                         return;
 742                 }
 743
 744                 received_time = old.received_time;
 745                 time = old.time;
 746                 time_change = old.time_change;
 747                 prev_time = old.time;
 748
 749                 tick = old.tick;
 750                 prev_tick = old.tick;
 751                 boost_tick = old.boost_tick;
 752
 753                 state = old.state;
 754                 flight = old.flight;
 755                 landed = old.landed;
 756                 ascent = old.ascent;
 757                 boost = old.boost;
 758                 rssi = old.rssi;
 759                 status = old.status;
 760                 device_type = old.device_type;
 761                 config_major = old.config_major;
 762                 config_minor = old.config_minor;
 763                 apogee_delay = old.apogee_delay;
 764                 main_deploy = old.main_deploy;
 765                 flight_log_max = old.flight_log_max;
 766
 767                 set = 0;
 768
 769                 ground_pressure.copy(old.ground_pressure);
 770                 ground_altitude.copy(old.ground_altitude);
 771                 altitude.copy(old.altitude);
 772                 pressure.copy(old.pressure);
 773                 speed.copy(old.speed);
 774                 acceleration.copy(old.acceleration);
 775                 orient.copy(old.orient);
 776
 777                 battery_voltage = old.battery_voltage;
 778                 pyro_voltage = old.pyro_voltage;
 779                 temperature = old.temperature;
 780                 apogee_voltage = old.apogee_voltage;
 781                 main_voltage = old.main_voltage;
 782                 ignitor_voltage = old.ignitor_voltage;
 783
 784                 kalman_height.copy(old.kalman_height);
 785                 kalman_speed.copy(old.kalman_speed);
 786                 kalman_acceleration.copy(old.kalman_acceleration);
 787
 788                 if (old.gps != null)
 789                         gps = old.gps.clone();
 790                 else
 791                         gps = null;
 792                 if (old.temp_gps != null)
 793                         temp_gps = old.temp_gps.clone();
 794                 else
 795                         temp_gps = null;
 796                 temp_gps_sat_tick = old.temp_gps_sat_tick;
 797                 gps_sequence = old.gps_sequence;
 798                 gps_pending = old.gps_pending;
 799
 800                 if (old.imu != null)
 801                         imu = old.imu.clone();
 802                 else
 803                         imu = null;
 804
 805                 if (old.mag != null)
 806                         mag = old.mag.clone();
 807                 else
 808                         mag = null;
 809
 810                 npad = old.npad;
 811                 gps_waiting = old.gps_waiting;
 812                 gps_ready = old.gps_ready;
 813                 ngps = old.ngps;
 814
 815                 if (old.from_pad != null)
 816                         from_pad = old.from_pad.clone();
 817                 else
 818                         from_pad = null;
 819
 820                 elevation = old.elevation;
 821                 range = old.range;
 822
 823                 gps_height = old.gps_height;
 824
 825                 gps_altitude.copy(old.gps_altitude);
 826                 gps_ground_altitude.copy(old.gps_ground_altitude);
 827
 828                 pad_lat = old.pad_lat;
 829                 pad_lon = old.pad_lon;
 830                 pad_alt = old.pad_alt;
 831
 832                 speak_tick = old.speak_tick;
 833                 speak_altitude = old.speak_altitude;
 834
 835                 callsign = old.callsign;
 836
 837                 accel_plus_g = old.accel_plus_g;
 838                 accel_minus_g = old.accel_minus_g;
 839                 accel = old.accel;
 840                 ground_accel = old.ground_accel;
 841                 ground_accel_avg = old.ground_accel_avg;
 842
 843                 log_format = old.log_format;
 844                 product = old.product;
 845                 serial = old.serial;
 846                 receiver_serial = old.receiver_serial;
 847
 848                 baro = old.baro;
 849                 companion = old.companion;
 850
 851                 pyro_fired = old.pyro_fired;
 852         }
 853
 854         void update_time() {
 855         }
 856
 857         void update_gps() {
 858                 elevation = 0;
 859                 range = -1;
 860
 861                 if (gps == null)
 862                         return;
 863
 864                 if (gps.locked && gps.nsat >= 4) {
 865                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 866                         if (state == AltosLib.ao_flight_pad) {
 867                                 set_npad(npad+1);
 868                                 if (pad_lat != AltosLib.MISSING) {
 869                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
 870                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
 871                                         gps_ground_altitude.set_filtered(gps.alt, time);
 872                                 }
 873                         }
 874                         if (pad_lat == AltosLib.MISSING) {
 875                                 pad_lat = gps.lat;
 876                                 pad_lon = gps.lon;
 877                                 gps_ground_altitude.set(gps.alt, time);
 878                         }
 879                         gps_altitude.set(gps.alt, time);
 880                 }
 881                 if (gps.lat != 0 && gps.lon != 0 &&
 882                     pad_lat != AltosLib.MISSING &&
 883                     pad_lon != AltosLib.MISSING)
 884                 {
 885                         double h = height();
 886
 887                         if (h == AltosLib.MISSING)
 888                                 h = 0;
 889                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 890                         elevation = from_pad.elevation;
 891                         range = from_pad.range;
 892                 }
 893         }
 894
 895         public void set_tick(int new_tick) {
 896                 if (new_tick != AltosLib.MISSING) {
 897                         if (prev_tick != AltosLib.MISSING) {
 898                                 while (new_tick < prev_tick - 1000) {
 899                                         new_tick += 65536;
 900                                 }
 901                         }
 902                         tick = new_tick;
 903                         time = tick / 100.0;
 904                         time_change = time - prev_time;
 905                 }
 906         }
 907
 908         public void set_boost_tick(int boost_tick) {
 909                 if (boost_tick != AltosLib.MISSING)
 910                         this.boost_tick = boost_tick;
 911         }
 912
 913         public String state_name() {
 914                 return AltosLib.state_name(state);
 915         }
 916
 917         public void set_state(int state) {
 918                 if (state != AltosLib.ao_flight_invalid) {
 919                         this.state = state;
 920                         ascent = (AltosLib.ao_flight_boost <= state &&
 921                                   state <= AltosLib.ao_flight_coast);
 922                         boost = (AltosLib.ao_flight_boost == state);
 923                 }
 924
 925         }
 926
 927         public void set_device_type(int device_type) {
 928                 this.device_type = device_type;
 929         }
 930
 931         public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
 932                 config_major = major;
 933                 config_minor = minor;
 934                 this.apogee_delay = apogee_delay;
 935                 this.main_deploy = main_deploy;
 936                 this.flight_log_max = flight_log_max;
 937         }
 938
 939         public void set_callsign(String callsign) {
 940                 this.callsign = callsign;
 941         }
 942
 943         public void set_firmware_version(String version) {
 944                 firmware_version = version;
 945         }
 946
 947         public void set_flight(int flight) {
 948
 949                 /* When the flight changes, reset the state */
 950                 if (flight != AltosLib.MISSING && flight != 0) {
 951                         if (this.flight != AltosLib.MISSING &&
 952                             this.flight != flight) {
 953                                 int bt = boost_tick;
 954                                 init();
 955                                 boost_tick = bt;
 956                         }
 957                         this.flight = flight;
 958                 }
 959         }
 960
 961         public void set_serial(int serial) {
 962                 /* When the serial changes, reset the state */
 963                 if (serial != AltosLib.MISSING) {
 964                         if (this.serial != AltosLib.MISSING &&
 965                             this.serial != serial) {
 966                                 int bt = boost_tick;
 967                                 init();
 968                                 boost_tick = bt;
 969                         }
 970                         this.serial = serial;
 971                 }
 972         }
 973
 974         public void set_receiver_serial(int serial) {
 975                 if (serial != AltosLib.MISSING)
 976                         receiver_serial = serial;
 977         }
 978
 979         public int rssi() {
 980                 if (rssi == AltosLib.MISSING)
 981                         return 0;
 982                 return rssi;
 983         }
 984
 985         public void set_rssi(int rssi, int status) {
 986                 if (rssi != AltosLib.MISSING) {
 987                         this.rssi = rssi;
 988                         this.status = status;
 989                 }
 990         }
 991
 992         public void set_received_time(long ms) {
 993                 received_time = ms;
 994         }
 995
 996         public void set_gps(AltosGPS gps, int sequence) {
 997                 if (gps != null) {
 998                         this.gps = gps.clone();
 999                         gps_sequence = sequence;
1000                         update_gps();
1001                         set |= set_gps;
1002                 }
1003         }
1004
1005         public void set_imu(AltosIMU imu) {
1006                 if (imu != null)
1007                         imu = imu.clone();
1008                 this.imu = imu;
1009         }
1010
1011         public void set_mag(AltosMag mag) {
1012                 this.mag = mag.clone();
1013         }
1014
1015         public AltosMs5607 make_baro() {
1016                 if (baro == null)
1017                         baro = new AltosMs5607();
1018                 return baro;
1019         }
1020
1021         public void set_ms5607(AltosMs5607 ms5607) {
1022                 baro = ms5607;
1023
1024                 if (baro != null) {
1025                         set_pressure(baro.pa);
1026                         set_temperature(baro.cc / 100.0);
1027                 }
1028         }
1029
1030         public void set_ms5607(int pres, int temp) {
1031                 if (baro != null) {
1032                         baro.set(pres, temp);
1033
1034                         set_pressure(baro.pa);
1035                         set_temperature(baro.cc / 100.0);
1036                 }
1037         }
1038
1039         public void make_companion (int nchannels) {
1040                 if (companion == null)
1041                         companion = new AltosCompanion(nchannels);
1042         }
1043
1044         public void set_companion(AltosCompanion companion) {
1045                 this.companion = companion;
1046         }
1047
1048         void update_accel() {
1049                 if (accel == AltosLib.MISSING)
1050                         return;
1051                 if (accel_plus_g == AltosLib.MISSING)
1052                         return;
1053                 if (accel_minus_g == AltosLib.MISSING)
1054                         return;
1055
1056                 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
1057                 double counts_per_mss = counts_per_g / 9.80665;
1058                 acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
1059         }
1060
1061         public void set_accel_g(double accel_plus_g, double accel_minus_g) {
1062                 if (accel_plus_g != AltosLib.MISSING) {
1063                         this.accel_plus_g = accel_plus_g;
1064                         this.accel_minus_g = accel_minus_g;
1065                         update_accel();
1066                 }
1067         }
1068
1069         public void set_ground_accel(double ground_accel) {
1070                 if (ground_accel != AltosLib.MISSING)
1071                         this.ground_accel = ground_accel;
1072         }
1073
1074         public void set_accel(double accel) {
1075                 if (accel != AltosLib.MISSING) {
1076                         this.accel = accel;
1077                         if (state == AltosLib.ao_flight_pad) {
1078                                 if (ground_accel_avg == AltosLib.MISSING)
1079                                         ground_accel_avg = accel;
1080                                 else
1081                                         ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
1082                         }
1083                 }
1084                 update_accel();
1085         }
1086
1087         public void set_temperature(double temperature) {
1088                 if (temperature != AltosLib.MISSING) {
1089                         this.temperature = temperature;
1090                         set |= set_data;
1091                 }
1092         }
1093
1094         public void set_battery_voltage(double battery_voltage) {
1095                 if (battery_voltage != AltosLib.MISSING) {
1096                         this.battery_voltage = battery_voltage;
1097                         set |= set_data;
1098                 }
1099         }
1100
1101         public void set_pyro_voltage(double pyro_voltage) {
1102                 if (pyro_voltage != AltosLib.MISSING) {
1103                         this.pyro_voltage = pyro_voltage;
1104                         set |= set_data;
1105                 }
1106         }
1107
1108         public void set_apogee_voltage(double apogee_voltage) {
1109                 if (apogee_voltage != AltosLib.MISSING) {
1110                         this.apogee_voltage = apogee_voltage;
1111                         set |= set_data;
1112                 }
1113         }
1114
1115         public void set_main_voltage(double main_voltage) {
1116                 if (main_voltage != AltosLib.MISSING) {
1117                         this.main_voltage = main_voltage;
1118                         set |= set_data;
1119                 }
1120         }
1121
1122         public void set_ignitor_voltage(double[] voltage) {
1123                 this.ignitor_voltage = voltage;
1124         }
1125
1126         public void set_pyro_fired(int fired) {
1127                 this.pyro_fired = fired;
1128         }
1129
1130         public double time_since_boost() {
1131                 if (tick == AltosLib.MISSING)
1132                         return 0.0;
1133
1134                 if (boost_tick == AltosLib.MISSING)
1135                         return tick / 100.0;
1136                 return (tick - boost_tick) / 100.0;
1137         }
1138
1139         public boolean valid() {
1140                 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1141         }
1142
1143         public AltosGPS make_temp_gps(boolean sats) {
1144                 if (temp_gps == null) {
1145                         temp_gps = new AltosGPS(gps);
1146                 }
1147                 gps_pending = true;
1148                 if (sats) {
1149                         if (tick != temp_gps_sat_tick)
1150                                 temp_gps.cc_gps_sat = null;
1151                         temp_gps_sat_tick = tick;
1152                 }
1153                 return temp_gps;
1154         }
1155
1156         public void set_temp_gps() {
1157                 set_gps(temp_gps, gps_sequence + 1);
1158                 gps_pending = false;
1159                 temp_gps = null;
1160         }
1161
1162         public AltosState clone() {
1163                 AltosState s = new AltosState();
1164                 s.copy(this);
1165                 return s;
1166         }
1167
1168         public AltosState () {
1169                 init();
1170         }
1171 }