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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 implements Cloneable {
  25         public AltosRecord record;
  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 ascent_filter_len = 0.1;
  34         static final double descent_filter_len = 2.0;
  35
  36         /* derived data */
  37
  38         public long     received_time;
  39
  40         public double   time;
  41         public double   prev_time;
  42         public double   time_change;
  43         public int      tick;
  44         private int     prev_tick;
  45         public int      boost_tick;
  46
  47         class AltosValue {
  48                 private double  value;
  49                 private double  prev_value;
  50                 private double  max_value;
  51                 private double  set_time;
  52                 private double  prev_set_time;
  53                 private double  max_rate = 1000.0;
  54
  55                 void set(double new_value, double time) {
  56                         if (new_value != AltosRecord.MISSING) {
  57                                 value = new_value;
  58                                 if (max_value == AltosRecord.MISSING || value > max_value) {
  59                                         max_value = value;
  60                                 }
  61                                 set_time = time;
  62                         }
  63                 }
  64
  65                 double value() {
  66                         return value;
  67                 }
  68
  69                 double max() {
  70                         return max_value;
  71                 }
  72
  73                 double prev() {
  74                         return prev_value;
  75                 }
  76
  77                 double change() {
  78                         if (value != AltosRecord.MISSING && prev_value != AltosRecord.MISSING)
  79                                 return value - prev_value;
  80                         return AltosRecord.MISSING;
  81                 }
  82
  83                 double rate() {
  84                         double c = change();
  85                         double t = set_time - prev_set_time;
  86
  87                         if (c != AltosRecord.MISSING && t != 0)
  88                                 return c / t;
  89                         return AltosRecord.MISSING;
  90                 }
  91
  92                 double integrate() {
  93                         if (value == AltosRecord.MISSING)
  94                                 return AltosRecord.MISSING;
  95                         if (prev_value == AltosRecord.MISSING)
  96                                 return AltosRecord.MISSING;
  97
  98                         return (value + prev_value) / 2 * (set_time - prev_set_time);
  99                 }
 100
 101                 double time() {
 102                         return set_time;
 103                 }
 104
 105                 void set_derivative(AltosValue in) {
 106                         double  n = in.rate();
 107
 108                         if (n == AltosRecord.MISSING)
 109                                 return;
 110
 111                         double  p = prev_value;
 112                         double  pt = prev_set_time;
 113
 114                         if (p == AltosRecord.MISSING) {
 115                                 p = 0;
 116                                 pt = in.time() - 0.01;
 117                         }
 118
 119                         /* Clip changes to reduce noise */
 120                         double  ddt = in.time() - pt;
 121                         double  ddv = (n - p) / ddt;
 122
 123                         /* 100gs */
 124                         if (Math.abs(ddv) > 1000) {
 125                                 if (n > p)
 126                                         n = p + ddt * 1000;
 127                                 else
 128                                         n = p - ddt * 1000;
 129                         }
 130
 131                         double filter_len;
 132
 133                         if (ascent)
 134                                 filter_len = ascent_filter_len;
 135                         else
 136                                 filter_len = descent_filter_len;
 137
 138                         double f = 1/Math.exp(ddt/ filter_len);
 139                         n = p * f + n * (1-f);
 140
 141                         set(n, in.time());
 142                 }
 143
 144                 void set_integral(AltosValue in) {
 145                         double  change = in.integrate();
 146
 147                         if (change != AltosRecord.MISSING)
 148                                 set(prev_value + change, in.time());
 149                 }
 150
 151                 void copy(AltosValue old) {
 152                         value = old.value;
 153                         set_time = old.set_time;
 154                         prev_value = old.value;
 155                         prev_set_time = old.set_time;
 156                         max_value = old.max_value;
 157                 }
 158
 159                 AltosValue() {
 160                         value = AltosRecord.MISSING;
 161                         prev_value = AltosRecord.MISSING;
 162                         max_value = AltosRecord.MISSING;
 163                 }
 164         }
 165
 166         class AltosCValue {
 167                 AltosValue      measured;
 168                 AltosValue      computed;
 169
 170                 double value() {
 171                         double v = measured.value();
 172                         if (v != AltosRecord.MISSING)
 173                                 return v;
 174                         return computed.value();
 175                 }
 176
 177                 boolean is_measured() {
 178                         return measured.value() != AltosRecord.MISSING;
 179                 }
 180
 181                 double max() {
 182                         double m = measured.max();
 183
 184                         if (m != AltosRecord.MISSING)
 185                                 return m;
 186                         return computed.max();
 187                 }
 188
 189                 double prev_value() {
 190                         if (measured.value != AltosRecord.MISSING && measured.prev_value != AltosRecord.MISSING)
 191                                 return measured.prev_value;
 192                         return computed.prev_value;
 193                 }
 194
 195                 AltosValue altos_value() {
 196                         if (measured.value() != AltosRecord.MISSING)
 197                                 return measured;
 198                         return computed;
 199                 }
 200
 201                 double change() {
 202                         double c = measured.change();
 203                         if (c == AltosRecord.MISSING)
 204                                 c = computed.change();
 205                         return c;
 206                 }
 207
 208                 double rate() {
 209                         double r = measured.rate();
 210                         if (r == AltosRecord.MISSING)
 211                                 r = computed.rate();
 212                         return r;
 213                 }
 214
 215                 void set_measured(double new_value, double time) {
 216                         measured.set(new_value, time);
 217                 }
 218
 219                 void set_computed(double new_value, double time) {
 220                         computed.set(new_value, time);
 221                 }
 222
 223                 void set_derivative(AltosValue in) {
 224                         computed.set_derivative(in);
 225                 }
 226
 227                 void set_derivative(AltosCValue in) {
 228                         set_derivative(in.altos_value());
 229                 }
 230
 231                 void set_integral(AltosValue in) {
 232                         computed.set_integral(in);
 233                 }
 234
 235                 void set_integral(AltosCValue in) {
 236                         set_integral(in.altos_value());
 237                 }
 238
 239                 void copy(AltosCValue old) {
 240                         measured.copy(old.measured);
 241                         computed.copy(old.computed);
 242                 }
 243
 244                 AltosCValue() {
 245                         measured = new AltosValue();
 246                         computed = new AltosValue();
 247                 }
 248         }
 249
 250         public int      state;
 251         public int      flight;
 252         public int      serial;
 253         public boolean  landed;
 254         public boolean  ascent; /* going up? */
 255         public boolean  boost;  /* under power */
 256         public int      rssi;
 257         public int      status;
 258         public int      device_type;
 259         public int      config_major;
 260         public int      config_minor;
 261         public int      apogee_delay;
 262         public int      main_deploy;
 263         public int      flight_log_max;
 264
 265         private double pressure_to_altitude(double p) {
 266                 if (p == AltosRecord.MISSING)
 267                         return AltosRecord.MISSING;
 268                 return AltosConvert.pressure_to_altitude(p);
 269         }
 270
 271         private AltosCValue ground_altitude;
 272
 273         public double ground_altitude() {
 274                 return ground_altitude.value();
 275         }
 276
 277         public void set_ground_altitude(double a) {
 278                 ground_altitude.set_measured(a, time);
 279         }
 280
 281         class AltosGroundPressure extends AltosValue {
 282                 void set(double p, double time) {
 283                         super.set(p, time);
 284                         ground_altitude.set_computed(pressure_to_altitude(p), time);
 285                 }
 286         }
 287
 288         private AltosGroundPressure ground_pressure;
 289
 290         public double ground_pressure() {
 291                 return ground_pressure.value();
 292         }
 293
 294         public void set_ground_pressure (double pressure) {
 295                 ground_pressure.set(pressure, time);
 296         }
 297
 298         class AltosAltitude extends AltosCValue {
 299
 300                 private void set_speed(AltosValue v) {
 301                         if (!acceleration.is_measured() || !ascent)
 302                                 speed.set_derivative(this);
 303                 }
 304
 305                 void set_computed(double a, double time) {
 306                         super.set_computed(a,time);
 307                         set_speed(computed);
 308                         set |= set_position;
 309                 }
 310
 311                 void set_measured(double a, double time) {
 312                         super.set_measured(a,time);
 313                         set_speed(measured);
 314                         set |= set_position;
 315                 }
 316         }
 317
 318         private AltosAltitude   altitude;
 319
 320         public double altitude() {
 321                 double a = altitude.value();
 322                 if (a != AltosRecord.MISSING)
 323                         return a;
 324                 if (gps != null)
 325                         return gps.alt;
 326                 return AltosRecord.MISSING;
 327         }
 328
 329         public double max_altitude() {
 330                 double a = altitude.max();
 331                 if (a != AltosRecord.MISSING)
 332                         return a;
 333                 return AltosRecord.MISSING;
 334         }
 335
 336         public void set_altitude(double new_altitude) {
 337                 altitude.set_measured(new_altitude, time);
 338         }
 339
 340         class AltosPressure extends AltosValue {
 341                 void set(double p, double time) {
 342                         super.set(p, time);
 343                         altitude.set_computed(pressure_to_altitude(p), time);
 344                 }
 345         }
 346
 347         private AltosPressure   pressure;
 348
 349         public double pressure() {
 350                 return pressure.value();
 351         }
 352
 353         public void set_pressure(double p) {
 354                 pressure.set(p, time);
 355         }
 356
 357         public double height() {
 358                 double k = kalman_height.value();
 359                 if (k != AltosRecord.MISSING)
 360                         return k;
 361
 362                 double a = altitude();
 363                 double g = ground_altitude();
 364                 if (a != AltosRecord.MISSING && g != AltosRecord.MISSING)
 365                         return a - g;
 366                 return AltosRecord.MISSING;
 367         }
 368
 369         public double max_height() {
 370                 double  k = kalman_height.max();
 371                 if (k != AltosRecord.MISSING)
 372                         return k;
 373
 374                 double a = altitude.max();
 375                 double g = ground_altitude();
 376                 if (a != AltosRecord.MISSING && g != AltosRecord.MISSING)
 377                         return a - g;
 378                 return AltosRecord.MISSING;
 379         }
 380
 381         class AltosSpeed extends AltosCValue {
 382
 383                 void set_accel() {
 384                         acceleration.set_derivative(this);
 385                 }
 386
 387                 void set_derivative(AltosCValue in) {
 388                         super.set_derivative(in);
 389                         set_accel();
 390                 }
 391
 392                 void set_computed(double new_value, double time) {
 393                         super.set_computed(new_value, time);
 394                         set_accel();
 395                 }
 396
 397                 void set_measured(double new_value, double time) {
 398                         super.set_measured(new_value, time);
 399                         set_accel();
 400                 }
 401         }
 402
 403         private AltosSpeed speed;
 404
 405         public double speed() {
 406                 return speed.value();
 407         }
 408
 409         public double max_speed() {
 410                 return speed.max();
 411         }
 412
 413         class AltosAccel extends AltosCValue {
 414                 void set_measured(double a, double time) {
 415                         super.set_measured(a, time);
 416                         if (ascent)
 417                                 speed.set_integral(this.measured);
 418                 }
 419         }
 420
 421         AltosAccel acceleration;
 422
 423         public double acceleration() {
 424                 return acceleration.value();
 425         }
 426
 427         public double max_acceleration() {
 428                 return acceleration.max();
 429         }
 430
 431         public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 432
 433         public void set_kalman(double height, double speed, double acceleration) {
 434                 kalman_height.set(height, time);
 435                 kalman_speed.set(speed, time);
 436                 kalman_acceleration.set(acceleration, time);
 437         }
 438
 439         public double   battery_voltage;
 440         public double   pyro_voltage;
 441         public double   temperature;
 442         public double   apogee_voltage;
 443         public double   main_voltage;
 444
 445         public double   ignitor_voltage[];
 446
 447         public AltosGPS gps;
 448         public AltosGPS temp_gps;
 449         public boolean  temp_gps_clear_sats_pending;
 450         public boolean  gps_pending;
 451         public int gps_sequence;
 452
 453         public AltosIMU imu;
 454         public AltosMag mag;
 455
 456         public static final int MIN_PAD_SAMPLES = 10;
 457
 458         public int      npad;
 459         public int      gps_waiting;
 460         public boolean  gps_ready;
 461
 462         public int      ngps;
 463
 464         public AltosGreatCircle from_pad;
 465         public double   elevation;      /* from pad */
 466         public double   range;          /* total distance */
 467
 468         public double   gps_height;
 469
 470         public double pad_lat, pad_lon, pad_alt;
 471
 472         public int      speak_tick;
 473         public double   speak_altitude;
 474
 475         public String   callsign;
 476         public String   firmware_version;
 477
 478         public double   accel_plus_g;
 479         public double   accel_minus_g;
 480         public double   accel;
 481         public double   ground_accel;
 482         public double   ground_accel_avg;
 483
 484         public int      log_format;
 485
 486         public AltosMs5607      baro;
 487
 488         public AltosRecordCompanion     companion;
 489
 490         public void set_npad(int npad) {
 491                 this.npad = npad;
 492                 gps_waiting = MIN_PAD_SAMPLES - npad;
 493                 if (this.gps_waiting < 0)
 494                         gps_waiting = 0;
 495                 gps_ready = gps_waiting == 0;
 496         }
 497
 498         public void init() {
 499                 record = null;
 500
 501                 set = 0;
 502
 503                 received_time = System.currentTimeMillis();
 504                 time = AltosRecord.MISSING;
 505                 time_change = AltosRecord.MISSING;
 506                 prev_time = AltosRecord.MISSING;
 507                 tick = AltosRecord.MISSING;
 508                 prev_tick = AltosRecord.MISSING;
 509                 boost_tick = AltosRecord.MISSING;
 510                 state = AltosLib.ao_flight_invalid;
 511                 flight = AltosRecord.MISSING;
 512                 landed = false;
 513                 boost = false;
 514                 rssi = AltosRecord.MISSING;
 515                 status = 0;
 516                 device_type = AltosRecord.MISSING;
 517                 config_major = AltosRecord.MISSING;
 518                 config_minor = AltosRecord.MISSING;
 519                 apogee_delay = AltosRecord.MISSING;
 520                 main_deploy = AltosRecord.MISSING;
 521                 flight_log_max = AltosRecord.MISSING;
 522
 523                 ground_altitude = new AltosCValue();
 524                 ground_pressure = new AltosGroundPressure();
 525                 altitude = new AltosAltitude();
 526                 pressure = new AltosPressure();
 527                 speed = new AltosSpeed();
 528                 acceleration = new AltosAccel();
 529
 530                 temperature = AltosRecord.MISSING;
 531                 battery_voltage = AltosRecord.MISSING;
 532                 pyro_voltage = AltosRecord.MISSING;
 533                 apogee_voltage = AltosRecord.MISSING;
 534                 main_voltage = AltosRecord.MISSING;
 535                 ignitor_voltage = null;
 536
 537                 kalman_height = new AltosValue();
 538                 kalman_speed = new AltosValue();
 539                 kalman_acceleration = new AltosValue();
 540
 541                 gps = null;
 542                 temp_gps = null;
 543                 temp_gps_clear_sats_pending = false;
 544                 gps_sequence = 0;
 545                 gps_pending = false;
 546
 547                 imu = null;
 548                 mag = null;
 549
 550                 set_npad(0);
 551                 ngps = 0;
 552
 553                 from_pad = null;
 554                 elevation = AltosRecord.MISSING;
 555                 range = AltosRecord.MISSING;
 556                 gps_height = AltosRecord.MISSING;
 557
 558                 pad_lat = AltosRecord.MISSING;
 559                 pad_lon = AltosRecord.MISSING;
 560                 pad_alt = AltosRecord.MISSING;
 561
 562                 speak_tick = AltosRecord.MISSING;
 563                 speak_altitude = AltosRecord.MISSING;
 564
 565                 callsign = null;
 566
 567                 accel_plus_g = AltosRecord.MISSING;
 568                 accel_minus_g = AltosRecord.MISSING;
 569                 accel = AltosRecord.MISSING;
 570
 571                 ground_accel = AltosRecord.MISSING;
 572                 ground_accel_avg = AltosRecord.MISSING;
 573
 574                 log_format = AltosRecord.MISSING;
 575                 serial = AltosRecord.MISSING;
 576
 577                 baro = null;
 578                 companion = null;
 579         }
 580
 581         void copy(AltosState old) {
 582
 583                 record = null;
 584
 585                 if (old == null) {
 586                         init();
 587                         return;
 588                 }
 589
 590                 received_time = old.received_time;
 591                 time = old.time;
 592                 time_change = 0;
 593                 tick = old.tick;
 594                 prev_tick = old.tick;
 595                 boost_tick = old.boost_tick;
 596
 597                 state = old.state;
 598                 flight = old.flight;
 599                 landed = old.landed;
 600                 ascent = old.ascent;
 601                 boost = old.boost;
 602                 rssi = old.rssi;
 603                 status = old.status;
 604                 device_type = old.device_type;
 605                 config_major = old.config_major;
 606                 config_minor = old.config_minor;
 607                 apogee_delay = old.apogee_delay;
 608                 main_deploy = old.main_deploy;
 609                 flight_log_max = old.flight_log_max;
 610
 611                 set = 0;
 612
 613                 ground_altitude.copy(old.ground_altitude);
 614                 altitude.copy(old.altitude);
 615                 pressure.copy(old.pressure);
 616                 speed.copy(old.speed);
 617                 acceleration.copy(old.acceleration);
 618
 619                 battery_voltage = old.battery_voltage;
 620                 pyro_voltage = old.pyro_voltage;
 621                 temperature = old.temperature;
 622                 apogee_voltage = old.apogee_voltage;
 623                 main_voltage = old.main_voltage;
 624                 ignitor_voltage = old.ignitor_voltage;
 625
 626                 kalman_height.copy(old.kalman_height);
 627                 kalman_speed.copy(old.kalman_speed);
 628                 kalman_acceleration.copy(old.kalman_acceleration);
 629
 630                 if (old.gps != null)
 631                         gps = old.gps.clone();
 632                 else
 633                         gps = null;
 634                 if (old.temp_gps != null)
 635                         temp_gps = old.temp_gps.clone();
 636                 else
 637                         temp_gps = null;
 638                 temp_gps_clear_sats_pending = old.temp_gps_clear_sats_pending;
 639                 gps_sequence = old.gps_sequence;
 640                 gps_pending = old.gps_pending;
 641
 642                 if (old.imu != null)
 643                         imu = old.imu.clone();
 644                 else
 645                         imu = null;
 646
 647                 if (old.mag != null)
 648                         mag = old.mag.clone();
 649                 else
 650                         mag = null;
 651
 652                 npad = old.npad;
 653                 gps_waiting = old.gps_waiting;
 654                 gps_ready = old.gps_ready;
 655                 ngps = old.ngps;
 656
 657                 if (old.from_pad != null)
 658                         from_pad = old.from_pad.clone();
 659                 else
 660                         from_pad = null;
 661
 662                 elevation = old.elevation;
 663                 range = old.range;
 664
 665                 gps_height = old.gps_height;
 666                 pad_lat = old.pad_lat;
 667                 pad_lon = old.pad_lon;
 668                 pad_alt = old.pad_alt;
 669
 670                 speak_tick = old.speak_tick;
 671                 speak_altitude = old.speak_altitude;
 672
 673                 callsign = old.callsign;
 674
 675                 accel_plus_g = old.accel_plus_g;
 676                 accel_minus_g = old.accel_minus_g;
 677                 accel = old.accel;
 678                 ground_accel = old.ground_accel;
 679                 ground_accel_avg = old.ground_accel_avg;
 680
 681                 log_format = old.log_format;
 682                 serial = old.serial;
 683
 684                 baro = old.baro;
 685                 companion = old.companion;
 686         }
 687
 688         void update_time() {
 689         }
 690
 691         void update_gps() {
 692                 elevation = 0;
 693                 range = -1;
 694                 gps_height = 0;
 695
 696                 if (gps == null)
 697                         return;
 698
 699                 if (gps.locked && gps.nsat >= 4) {
 700                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 701                         if (state == AltosLib.ao_flight_pad) {
 702                                 set_npad(npad+1);
 703                                 if (pad_lat != AltosRecord.MISSING) {
 704                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
 705                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
 706                                         pad_alt = (pad_alt * 31 + gps.alt) / 32;
 707                                 }
 708                         }
 709                         if (pad_lat == AltosRecord.MISSING) {
 710                                 pad_lat = gps.lat;
 711                                 pad_lon = gps.lon;
 712                                 pad_alt = gps.alt;
 713                         }
 714                 }
 715                 if (gps.lat != 0 && gps.lon != 0 &&
 716                     pad_lat != AltosRecord.MISSING &&
 717                     pad_lon != AltosRecord.MISSING)
 718                 {
 719                         double h = height();
 720
 721                         if (h == AltosRecord.MISSING)
 722                                 h = 0;
 723                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 724                         elevation = from_pad.elevation;
 725                         range = from_pad.range;
 726                         gps_height = gps.alt - pad_alt;
 727                 }
 728         }
 729
 730         public void set_tick(int new_tick) {
 731                 if (new_tick != AltosRecord.MISSING) {
 732                         if (prev_tick != AltosRecord.MISSING) {
 733                                 while (new_tick < prev_tick - 32767) {
 734                                         new_tick += 65536;
 735                                 }
 736                         }
 737                         tick = new_tick;
 738                         time = tick / 100.0;
 739                 }
 740         }
 741
 742         public void set_boost_tick(int boost_tick) {
 743                 if (boost_tick != AltosRecord.MISSING)
 744                         this.boost_tick = boost_tick;
 745         }
 746
 747         public String state_name() {
 748                 return AltosLib.state_name(state);
 749         }
 750
 751         public void set_state(int state) {
 752                 if (state != AltosLib.ao_flight_invalid) {
 753                         this.state = state;
 754                         ascent = (AltosLib.ao_flight_boost <= state &&
 755                                   state <= AltosLib.ao_flight_coast);
 756                         boost = (AltosLib.ao_flight_boost == state);
 757                 }
 758
 759         }
 760
 761         public void set_device_type(int device_type) {
 762                 this.device_type = device_type;
 763         }
 764
 765         public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
 766                 config_major = major;
 767                 config_minor = minor;
 768                 this.apogee_delay = apogee_delay;
 769                 this.main_deploy = main_deploy;
 770                 this.flight_log_max = flight_log_max;
 771         }
 772
 773         public void set_callsign(String callsign) {
 774                 this.callsign = callsign;
 775         }
 776
 777         public void set_firmware_version(String version) {
 778                 firmware_version = version;
 779         }
 780
 781         public void set_flight(int flight) {
 782
 783                 /* When the flight changes, reset the state */
 784                 if (flight != AltosRecord.MISSING) {
 785                         if (this.flight != AltosRecord.MISSING &&
 786                             this.flight != flight) {
 787                                 init();
 788                         }
 789                         this.flight = flight;
 790                 }
 791         }
 792
 793         public void set_serial(int serial) {
 794                 /* When the serial changes, reset the state */
 795                 if (serial != AltosRecord.MISSING) {
 796                         if (this.serial != AltosRecord.MISSING &&
 797                             this.serial != serial) {
 798                                 init();
 799                         }
 800                         this.serial = serial;
 801                 }
 802         }
 803
 804         public int rssi() {
 805                 if (rssi == AltosRecord.MISSING)
 806                         return 0;
 807                 return rssi;
 808         }
 809
 810         public void set_rssi(int rssi, int status) {
 811                 if (rssi != AltosRecord.MISSING) {
 812                         this.rssi = rssi;
 813                         this.status = status;
 814                 }
 815         }
 816
 817         public void set_received_time(long ms) {
 818                 received_time = ms;
 819         }
 820
 821         public void set_gps(AltosGPS gps, int sequence) {
 822                 if (gps != null) {
 823                         this.gps = gps.clone();
 824                         gps_sequence = sequence;
 825                         update_gps();
 826                         set |= set_gps;
 827                 }
 828         }
 829
 830         public void make_baro() {
 831                 if (baro == null)
 832                         baro = new AltosMs5607();
 833         }
 834
 835         public void set_ms5607(int pres, int temp) {
 836                 if (baro != null) {
 837                         baro.set(pres, temp);
 838
 839                         set_pressure(baro.pa);
 840                         set_temperature(baro.cc / 100.0);
 841                 }
 842         }
 843
 844         public void make_companion (int nchannels) {
 845                 if (companion == null)
 846                         companion = new AltosRecordCompanion(nchannels);
 847         }
 848
 849         public void set_companion(AltosRecordCompanion companion) {
 850                 this.companion = companion;
 851         }
 852
 853         void update_accel() {
 854                 double  ground = ground_accel;
 855
 856                 if (ground == AltosRecord.MISSING)
 857                         ground = ground_accel_avg;
 858                 if (accel == AltosRecord.MISSING)
 859                         return;
 860                 if (ground == AltosRecord.MISSING)
 861                         return;
 862                 if (accel_plus_g == AltosRecord.MISSING)
 863                         return;
 864                 if (accel_minus_g == AltosRecord.MISSING)
 865                         return;
 866
 867                 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
 868                 double counts_per_mss = counts_per_g / 9.80665;
 869                 acceleration.set_computed((ground - accel) / counts_per_mss, time);
 870         }
 871
 872         public void set_accel_g(double accel_plus_g, double accel_minus_g) {
 873                 if (accel_plus_g != AltosRecord.MISSING) {
 874                         this.accel_plus_g = accel_plus_g;
 875                         this.accel_minus_g = accel_minus_g;
 876                         update_accel();
 877                 }
 878         }
 879
 880         public void set_ground_accel(double ground_accel) {
 881                 if (ground_accel != AltosRecord.MISSING) {
 882                         this.ground_accel = ground_accel;
 883                         update_accel();
 884                 }
 885         }
 886
 887         public void set_accel(double accel) {
 888                 if (accel != AltosRecord.MISSING) {
 889                         this.accel = accel;
 890                         if (state == AltosLib.ao_flight_pad) {
 891                                 if (ground_accel_avg == AltosRecord.MISSING)
 892                                         ground_accel_avg = accel;
 893                                 else
 894                                         ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
 895                         }
 896                 }
 897                 update_accel();
 898         }
 899
 900         public void set_temperature(double temperature) {
 901                 if (temperature != AltosRecord.MISSING) {
 902                         this.temperature = temperature;
 903                         set |= set_data;
 904                 }
 905         }
 906
 907         public void set_battery_voltage(double battery_voltage) {
 908                 if (battery_voltage != AltosRecord.MISSING) {
 909                         this.battery_voltage = battery_voltage;
 910                         set |= set_data;
 911                 }
 912         }
 913
 914         public void set_pyro_voltage(double pyro_voltage) {
 915                 if (pyro_voltage != AltosRecord.MISSING) {
 916                         this.pyro_voltage = pyro_voltage;
 917                         set |= set_data;
 918                 }
 919         }
 920
 921         public void set_apogee_voltage(double apogee_voltage) {
 922                 if (apogee_voltage != AltosRecord.MISSING) {
 923                         this.apogee_voltage = apogee_voltage;
 924                         set |= set_data;
 925                 }
 926         }
 927
 928         public void set_main_voltage(double main_voltage) {
 929                 if (main_voltage != AltosRecord.MISSING) {
 930                         this.main_voltage = main_voltage;
 931                         set |= set_data;
 932                 }
 933         }
 934
 935         public void set_ignitor_voltage(double[] voltage) {
 936                 this.ignitor_voltage = voltage;
 937         }
 938
 939         public double time_since_boost() {
 940                 if (tick == AltosRecord.MISSING)
 941                         return 0.0;
 942
 943                 if (boost_tick != AltosRecord.MISSING) {
 944                         return (tick - boost_tick) / 100.0;
 945                 }
 946                 return tick / 100.0;
 947         }
 948
 949         public boolean valid() {
 950                 return tick != AltosRecord.MISSING && serial != AltosRecord.MISSING;
 951         }
 952
 953         public AltosGPS make_temp_gps(boolean sats) {
 954                 if (temp_gps == null) {
 955                         temp_gps = new AltosGPS(gps);
 956                 }
 957                 gps_pending = true;
 958                 if (!sats)
 959                         temp_gps_clear_sats_pending = true;
 960                 else if (temp_gps_clear_sats_pending) {
 961                         temp_gps.cc_gps_sat = null;
 962                         temp_gps_clear_sats_pending = false;
 963                 }
 964                 return temp_gps;
 965         }
 966
 967         public void set_temp_gps() {
 968                 set_gps(temp_gps, gps_sequence + 1);
 969                 gps_pending = false;
 970                 temp_gps = null;
 971         }
 972
 973         public AltosState clone() {
 974                 AltosState s = new AltosState();
 975                 s.copy(this);
 976                 return s;
 977         }
 978
 979
 980         public void init (AltosRecord cur, AltosState prev_state) {
 981
 982                 System.out.printf ("init\n");
 983                 if (cur == null)
 984                         cur = new AltosRecord();
 985
 986                 record = cur;
 987
 988                 /* Discard previous state if it was for a different board */
 989                 if (prev_state != null && prev_state.serial != cur.serial)
 990                         prev_state = null;
 991
 992                 copy(prev_state);
 993
 994                 set_ground_altitude(cur.ground_altitude());
 995                 set_altitude(cur.altitude());
 996
 997                 set_kalman(cur.kalman_height, cur.kalman_speed, cur.kalman_acceleration);
 998
 999                 received_time = System.currentTimeMillis();
1000
1001                 set_temperature(cur.temperature());
1002                 set_apogee_voltage(cur.drogue_voltage());
1003                 set_main_voltage(cur.main_voltage());
1004                 set_battery_voltage(cur.battery_voltage());
1005
1006                 set_pressure(cur.pressure());
1007
1008                 set_tick(cur.tick);
1009                 set_state(cur.state);
1010
1011                 set_accel_g (cur.accel_minus_g, cur.accel_plus_g);
1012                 set_ground_accel(cur.ground_accel);
1013                 set_accel (cur.accel);
1014
1015                 if (cur.gps_sequence != gps_sequence)
1016                         set_gps(cur.gps, cur.gps_sequence);
1017
1018         }
1019
1020         public AltosState(AltosRecord cur) {
1021                 init(cur, null);
1022         }
1023
1024         public AltosState (AltosRecord cur, AltosState prev) {
1025                 init(cur, prev);
1026         }
1027
1028
1029         public AltosState () {
1030                 init();
1031         }
1032 }