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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_2;
  23
  24 public class AltosState implements Cloneable {
  25
  26         public static final int set_position = 1;
  27         public static final int set_gps = 2;
  28         public static final int set_data = 4;
  29
  30         public int set;
  31
  32         static final double ascent_filter_len = 0.1;
  33         static final double descent_filter_len = 2.0;
  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                 private double  max_rate = 1000.0;
  53
  54                 void set(double new_value, double time) {
  55                         if (new_value != AltosLib.MISSING) {
  56                                 value = new_value;
  57                                 if (max_value == AltosLib.MISSING || value > max_value) {
  58                                         max_value = value;
  59                                 }
  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                         /* 100gs */
 129                         if (Math.abs(ddv) > 1000) {
 130                                 if (n > p)
 131                                         n = p + ddt * 1000;
 132                                 else
 133                                         n = p - ddt * 1000;
 134                         }
 135
 136                         double filter_len;
 137
 138                         if (ascent)
 139                                 filter_len = ascent_filter_len;
 140                         else
 141                                 filter_len = descent_filter_len;
 142
 143                         double f = 1/Math.exp(ddt/ filter_len);
 144                         n = p * f + n * (1-f);
 145
 146                         set(n, in.time());
 147                 }
 148
 149                 void set_integral(AltosValue in) {
 150                         double  change = in.integrate();
 151
 152                         if (change != AltosLib.MISSING) {
 153                                 double  prev = prev_value;
 154                                 if (prev == AltosLib.MISSING)
 155                                         prev = 0;
 156                                 set(prev + change, in.time());
 157                         }
 158                 }
 159
 160                 void copy(AltosValue old) {
 161                         value = old.value;
 162                         set_time = old.set_time;
 163                         prev_value = old.value;
 164                         prev_set_time = old.set_time;
 165                         max_value = old.max_value;
 166                 }
 167
 168                 void finish_update() {
 169                         prev_value = value;
 170                         prev_set_time = set_time;
 171                 }
 172
 173                 AltosValue() {
 174                         value = AltosLib.MISSING;
 175                         prev_value = AltosLib.MISSING;
 176                         max_value = AltosLib.MISSING;
 177                 }
 178         }
 179
 180         class AltosCValue {
 181                 AltosValue      measured;
 182                 AltosValue      computed;
 183
 184                 double value() {
 185                         double v = measured.value();
 186                         if (v != AltosLib.MISSING)
 187                                 return v;
 188                         return computed.value();
 189                 }
 190
 191                 boolean is_measured() {
 192                         return measured.value() != AltosLib.MISSING;
 193                 }
 194
 195                 double max() {
 196                         double m = measured.max();
 197
 198                         if (m != AltosLib.MISSING)
 199                                 return m;
 200                         return computed.max();
 201                 }
 202
 203                 double prev_value() {
 204                         if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
 205                                 return measured.prev_value;
 206                         return computed.prev_value;
 207                 }
 208
 209                 AltosValue altos_value() {
 210                         if (measured.value() != AltosLib.MISSING)
 211                                 return measured;
 212                         return computed;
 213                 }
 214
 215                 double change() {
 216                         double c = measured.change();
 217                         if (c == AltosLib.MISSING)
 218                                 c = computed.change();
 219                         return c;
 220                 }
 221
 222                 double rate() {
 223                         double r = measured.rate();
 224                         if (r == AltosLib.MISSING)
 225                                 r = computed.rate();
 226                         return r;
 227                 }
 228
 229                 void set_measured(double new_value, double time) {
 230                         measured.set(new_value, time);
 231                 }
 232
 233                 void set_computed(double new_value, double time) {
 234                         computed.set(new_value, time);
 235                 }
 236
 237                 void set_derivative(AltosValue in) {
 238                         computed.set_derivative(in);
 239                 }
 240
 241                 void set_derivative(AltosCValue in) {
 242                         set_derivative(in.altos_value());
 243                 }
 244
 245                 void set_integral(AltosValue in) {
 246                         computed.set_integral(in);
 247                 }
 248
 249                 void set_integral(AltosCValue in) {
 250                         set_integral(in.altos_value());
 251                 }
 252
 253                 void copy(AltosCValue old) {
 254                         measured.copy(old.measured);
 255                         computed.copy(old.computed);
 256                 }
 257
 258                 void finish_update() {
 259                         measured.finish_update();
 260                         computed.finish_update();
 261                 }
 262
 263                 AltosCValue() {
 264                         measured = new AltosValue();
 265                         computed = new AltosValue();
 266                 }
 267         }
 268
 269         public int      state;
 270         public int      flight;
 271         public int      serial;
 272         public int      receiver_serial;
 273         public boolean  landed;
 274         public boolean  ascent; /* going up? */
 275         public boolean  boost;  /* under power */
 276         public int      rssi;
 277         public int      status;
 278         public int      device_type;
 279         public int      config_major;
 280         public int      config_minor;
 281         public int      apogee_delay;
 282         public int      main_deploy;
 283         public int      flight_log_max;
 284
 285         private double pressure_to_altitude(double p) {
 286                 if (p == AltosLib.MISSING)
 287                         return AltosLib.MISSING;
 288                 return AltosConvert.pressure_to_altitude(p);
 289         }
 290
 291         private AltosCValue ground_altitude;
 292
 293         public double ground_altitude() {
 294                 return ground_altitude.value();
 295         }
 296
 297         public void set_ground_altitude(double a) {
 298                 ground_altitude.set_measured(a, time);
 299         }
 300
 301         class AltosGroundPressure extends AltosCValue {
 302                 void set_filtered(double p, double time) {
 303                         computed.set_filtered(p, time);
 304                         if (!is_measured())
 305                                 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
 306                 }
 307
 308                 void set_measured(double p, double time) {
 309                         super.set_measured(p, time);
 310                         ground_altitude.set_computed(pressure_to_altitude(p), time);
 311                 }
 312         }
 313
 314         private AltosGroundPressure ground_pressure;
 315
 316         public double ground_pressure() {
 317                 return ground_pressure.value();
 318         }
 319
 320         public void set_ground_pressure (double pressure) {
 321                 ground_pressure.set_measured(pressure, time);
 322         }
 323
 324         class AltosAltitude extends AltosCValue {
 325
 326                 private void set_speed(AltosValue v) {
 327                         if (!acceleration.is_measured() || !ascent)
 328                                 speed.set_derivative(this);
 329                 }
 330
 331                 void set_computed(double a, double time) {
 332                         super.set_computed(a,time);
 333                         set_speed(computed);
 334                         set |= set_position;
 335                 }
 336
 337                 void set_measured(double a, double time) {
 338                         super.set_measured(a,time);
 339                         set_speed(measured);
 340                         set |= set_position;
 341                 }
 342         }
 343
 344         private AltosAltitude   altitude;
 345
 346         public double altitude() {
 347                 double a = altitude.value();
 348                 if (a != AltosLib.MISSING)
 349                         return a;
 350                 if (gps != null)
 351                         return gps.alt;
 352                 return AltosLib.MISSING;
 353         }
 354
 355         public double max_altitude() {
 356                 double a = altitude.max();
 357                 if (a != AltosLib.MISSING)
 358                         return a;
 359                 return AltosLib.MISSING;
 360         }
 361
 362         public void set_altitude(double new_altitude) {
 363                 altitude.set_measured(new_altitude, time);
 364         }
 365
 366         class AltosPressure extends AltosValue {
 367                 void set(double p, double time) {
 368                         super.set(p, time);
 369                         if (state == AltosLib.ao_flight_pad)
 370                                 ground_pressure.set_filtered(p, time);
 371                         double a = pressure_to_altitude(p);
 372                         altitude.set_computed(a, time);
 373                 }
 374         }
 375
 376         private AltosPressure   pressure;
 377
 378         public double pressure() {
 379                 return pressure.value();
 380         }
 381
 382         public void set_pressure(double p) {
 383                 pressure.set(p, time);
 384         }
 385
 386         public double height() {
 387                 double k = kalman_height.value();
 388                 if (k != AltosLib.MISSING)
 389                         return k;
 390
 391                 double a = altitude();
 392                 double g = ground_altitude();
 393                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 394                         return a - g;
 395                 return AltosLib.MISSING;
 396         }
 397
 398         public double max_height() {
 399                 double  k = kalman_height.max();
 400                 if (k != AltosLib.MISSING)
 401                         return k;
 402
 403                 double a = altitude.max();
 404                 double g = ground_altitude();
 405                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 406                         return a - g;
 407                 return AltosLib.MISSING;
 408         }
 409
 410         class AltosSpeed extends AltosCValue {
 411
 412                 void set_accel() {
 413                         acceleration.set_derivative(this);
 414                 }
 415
 416                 void set_derivative(AltosCValue in) {
 417                         super.set_derivative(in);
 418                         set_accel();
 419                 }
 420
 421                 void set_computed(double new_value, double time) {
 422                         super.set_computed(new_value, time);
 423                         set_accel();
 424                 }
 425
 426                 void set_measured(double new_value, double time) {
 427                         super.set_measured(new_value, time);
 428                         set_accel();
 429                 }
 430         }
 431
 432         private AltosSpeed speed;
 433
 434         public double speed() {
 435                 double v = kalman_speed.value();
 436                 if (v != AltosLib.MISSING)
 437                         return v;
 438                 return speed.value();
 439         }
 440
 441         public double max_speed() {
 442                 double v = kalman_speed.max();
 443                 if (v != AltosLib.MISSING)
 444                         return v;
 445                 return speed.max();
 446         }
 447
 448         class AltosAccel extends AltosCValue {
 449                 void set_measured(double a, double time) {
 450                         super.set_measured(a, time);
 451                         if (ascent)
 452                                 speed.set_integral(this.measured);
 453                 }
 454         }
 455
 456         AltosAccel acceleration;
 457
 458         public double acceleration() {
 459                 return acceleration.value();
 460         }
 461
 462         public double max_acceleration() {
 463                 return acceleration.max();
 464         }
 465
 466         public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 467
 468         public void set_kalman(double height, double speed, double acceleration) {
 469                 kalman_height.set(height, time);
 470                 kalman_speed.set(speed, time);
 471                 kalman_acceleration.set(acceleration, time);
 472         }
 473
 474         public double   battery_voltage;
 475         public double   pyro_voltage;
 476         public double   temperature;
 477         public double   apogee_voltage;
 478         public double   main_voltage;
 479
 480         public double   ignitor_voltage[];
 481
 482         public AltosGPS gps;
 483         public AltosGPS temp_gps;
 484         public int temp_gps_sat_tick;
 485         public boolean  gps_pending;
 486         public int gps_sequence;
 487
 488         public AltosIMU imu;
 489         public AltosMag mag;
 490
 491         public static final int MIN_PAD_SAMPLES = 10;
 492
 493         public int      npad;
 494         public int      gps_waiting;
 495         public boolean  gps_ready;
 496
 497         public int      ngps;
 498
 499         public AltosGreatCircle from_pad;
 500         public double   elevation;      /* from pad */
 501         public double   range;          /* total distance */
 502
 503         public double   gps_height;
 504
 505         public double pad_lat, pad_lon, pad_alt;
 506
 507         public int      speak_tick;
 508         public double   speak_altitude;
 509
 510         public String   callsign;
 511         public String   firmware_version;
 512
 513         public double   accel_plus_g;
 514         public double   accel_minus_g;
 515         public double   accel;
 516         public double   ground_accel;
 517         public double   ground_accel_avg;
 518
 519         public int      log_format;
 520
 521         public AltosMs5607      baro;
 522
 523         public AltosCompanion   companion;
 524
 525         public void set_npad(int npad) {
 526                 this.npad = npad;
 527                 gps_waiting = MIN_PAD_SAMPLES - npad;
 528                 if (this.gps_waiting < 0)
 529                         gps_waiting = 0;
 530                 gps_ready = gps_waiting == 0;
 531         }
 532
 533         public void init() {
 534                 set = 0;
 535
 536                 received_time = System.currentTimeMillis();
 537                 time = AltosLib.MISSING;
 538                 time_change = AltosLib.MISSING;
 539                 prev_time = AltosLib.MISSING;
 540                 tick = AltosLib.MISSING;
 541                 prev_tick = AltosLib.MISSING;
 542                 boost_tick = AltosLib.MISSING;
 543                 state = AltosLib.ao_flight_invalid;
 544                 flight = AltosLib.MISSING;
 545                 landed = false;
 546                 boost = false;
 547                 rssi = AltosLib.MISSING;
 548                 status = 0;
 549                 device_type = AltosLib.MISSING;
 550                 config_major = AltosLib.MISSING;
 551                 config_minor = AltosLib.MISSING;
 552                 apogee_delay = AltosLib.MISSING;
 553                 main_deploy = AltosLib.MISSING;
 554                 flight_log_max = AltosLib.MISSING;
 555
 556                 ground_altitude = new AltosCValue();
 557                 ground_pressure = new AltosGroundPressure();
 558                 altitude = new AltosAltitude();
 559                 pressure = new AltosPressure();
 560                 speed = new AltosSpeed();
 561                 acceleration = new AltosAccel();
 562
 563                 temperature = AltosLib.MISSING;
 564                 battery_voltage = AltosLib.MISSING;
 565                 pyro_voltage = AltosLib.MISSING;
 566                 apogee_voltage = AltosLib.MISSING;
 567                 main_voltage = AltosLib.MISSING;
 568                 ignitor_voltage = null;
 569
 570                 kalman_height = new AltosValue();
 571                 kalman_speed = new AltosValue();
 572                 kalman_acceleration = new AltosValue();
 573
 574                 gps = null;
 575                 temp_gps = null;
 576                 temp_gps_sat_tick = 0;
 577                 gps_sequence = 0;
 578                 gps_pending = false;
 579
 580                 imu = null;
 581                 mag = null;
 582
 583                 set_npad(0);
 584                 ngps = 0;
 585
 586                 from_pad = null;
 587                 elevation = AltosLib.MISSING;
 588                 range = AltosLib.MISSING;
 589                 gps_height = AltosLib.MISSING;
 590
 591                 pad_lat = AltosLib.MISSING;
 592                 pad_lon = AltosLib.MISSING;
 593                 pad_alt = AltosLib.MISSING;
 594
 595                 speak_tick = AltosLib.MISSING;
 596                 speak_altitude = AltosLib.MISSING;
 597
 598                 callsign = null;
 599
 600                 accel_plus_g = AltosLib.MISSING;
 601                 accel_minus_g = AltosLib.MISSING;
 602                 accel = AltosLib.MISSING;
 603
 604                 ground_accel = AltosLib.MISSING;
 605                 ground_accel_avg = AltosLib.MISSING;
 606
 607                 log_format = AltosLib.MISSING;
 608                 serial = AltosLib.MISSING;
 609                 receiver_serial = AltosLib.MISSING;
 610
 611                 baro = null;
 612                 companion = null;
 613         }
 614
 615         void finish_update() {
 616                 prev_tick = tick;
 617
 618                 ground_altitude.finish_update();
 619                 altitude.finish_update();
 620                 pressure.finish_update();
 621                 speed.finish_update();
 622                 acceleration.finish_update();
 623
 624                 kalman_height.finish_update();
 625                 kalman_speed.finish_update();
 626                 kalman_acceleration.finish_update();
 627         }
 628
 629         void copy(AltosState old) {
 630
 631                 if (old == null) {
 632                         init();
 633                         return;
 634                 }
 635
 636                 received_time = old.received_time;
 637                 time = old.time;
 638                 time_change = old.time_change;
 639                 prev_time = old.time;
 640
 641                 tick = old.tick;
 642                 prev_tick = old.tick;
 643                 boost_tick = old.boost_tick;
 644
 645                 state = old.state;
 646                 flight = old.flight;
 647                 landed = old.landed;
 648                 ascent = old.ascent;
 649                 boost = old.boost;
 650                 rssi = old.rssi;
 651                 status = old.status;
 652                 device_type = old.device_type;
 653                 config_major = old.config_major;
 654                 config_minor = old.config_minor;
 655                 apogee_delay = old.apogee_delay;
 656                 main_deploy = old.main_deploy;
 657                 flight_log_max = old.flight_log_max;
 658
 659                 set = 0;
 660
 661                 ground_pressure.copy(old.ground_pressure);
 662                 ground_altitude.copy(old.ground_altitude);
 663                 altitude.copy(old.altitude);
 664                 pressure.copy(old.pressure);
 665                 speed.copy(old.speed);
 666                 acceleration.copy(old.acceleration);
 667
 668                 battery_voltage = old.battery_voltage;
 669                 pyro_voltage = old.pyro_voltage;
 670                 temperature = old.temperature;
 671                 apogee_voltage = old.apogee_voltage;
 672                 main_voltage = old.main_voltage;
 673                 ignitor_voltage = old.ignitor_voltage;
 674
 675                 kalman_height.copy(old.kalman_height);
 676                 kalman_speed.copy(old.kalman_speed);
 677                 kalman_acceleration.copy(old.kalman_acceleration);
 678
 679                 if (old.gps != null)
 680                         gps = old.gps.clone();
 681                 else
 682                         gps = null;
 683                 if (old.temp_gps != null)
 684                         temp_gps = old.temp_gps.clone();
 685                 else
 686                         temp_gps = null;
 687                 temp_gps_sat_tick = old.temp_gps_sat_tick;
 688                 gps_sequence = old.gps_sequence;
 689                 gps_pending = old.gps_pending;
 690
 691                 if (old.imu != null)
 692                         imu = old.imu.clone();
 693                 else
 694                         imu = null;
 695
 696                 if (old.mag != null)
 697                         mag = old.mag.clone();
 698                 else
 699                         mag = null;
 700
 701                 npad = old.npad;
 702                 gps_waiting = old.gps_waiting;
 703                 gps_ready = old.gps_ready;
 704                 ngps = old.ngps;
 705
 706                 if (old.from_pad != null)
 707                         from_pad = old.from_pad.clone();
 708                 else
 709                         from_pad = null;
 710
 711                 elevation = old.elevation;
 712                 range = old.range;
 713
 714                 gps_height = old.gps_height;
 715                 pad_lat = old.pad_lat;
 716                 pad_lon = old.pad_lon;
 717                 pad_alt = old.pad_alt;
 718
 719                 speak_tick = old.speak_tick;
 720                 speak_altitude = old.speak_altitude;
 721
 722                 callsign = old.callsign;
 723
 724                 accel_plus_g = old.accel_plus_g;
 725                 accel_minus_g = old.accel_minus_g;
 726                 accel = old.accel;
 727                 ground_accel = old.ground_accel;
 728                 ground_accel_avg = old.ground_accel_avg;
 729
 730                 log_format = old.log_format;
 731                 serial = old.serial;
 732                 receiver_serial = old.receiver_serial;
 733
 734                 baro = old.baro;
 735                 companion = old.companion;
 736         }
 737
 738         void update_time() {
 739         }
 740
 741         void update_gps() {
 742                 elevation = 0;
 743                 range = -1;
 744                 gps_height = 0;
 745
 746                 if (gps == null)
 747                         return;
 748
 749                 if (gps.locked && gps.nsat >= 4) {
 750                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 751                         if (state == AltosLib.ao_flight_pad) {
 752                                 set_npad(npad+1);
 753                                 if (pad_lat != AltosLib.MISSING) {
 754                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
 755                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
 756                                         pad_alt = (pad_alt * 31 + gps.alt) / 32;
 757                                 }
 758                         }
 759                         if (pad_lat == AltosLib.MISSING) {
 760                                 pad_lat = gps.lat;
 761                                 pad_lon = gps.lon;
 762                                 pad_alt = gps.alt;
 763                         }
 764                 }
 765                 if (gps.lat != 0 && gps.lon != 0 &&
 766                     pad_lat != AltosLib.MISSING &&
 767                     pad_lon != AltosLib.MISSING)
 768                 {
 769                         double h = height();
 770
 771                         if (h == AltosLib.MISSING)
 772                                 h = 0;
 773                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 774                         elevation = from_pad.elevation;
 775                         range = from_pad.range;
 776                         gps_height = gps.alt - pad_alt;
 777                 }
 778         }
 779
 780         public void set_tick(int new_tick) {
 781                 if (new_tick != AltosLib.MISSING) {
 782                         if (prev_tick != AltosLib.MISSING) {
 783                                 while (new_tick < prev_tick - 1000) {
 784                                         new_tick += 65536;
 785                                 }
 786                         }
 787                         tick = new_tick;
 788                         time = tick / 100.0;
 789                         time_change = time - prev_time;
 790                 }
 791         }
 792
 793         public void set_boost_tick(int boost_tick) {
 794                 if (boost_tick != AltosLib.MISSING)
 795                         this.boost_tick = boost_tick;
 796         }
 797
 798         public String state_name() {
 799                 return AltosLib.state_name(state);
 800         }
 801
 802         public void set_state(int state) {
 803                 if (state != AltosLib.ao_flight_invalid) {
 804                         this.state = state;
 805                         ascent = (AltosLib.ao_flight_boost <= state &&
 806                                   state <= AltosLib.ao_flight_coast);
 807                         boost = (AltosLib.ao_flight_boost == state);
 808                 }
 809
 810         }
 811
 812         public void set_device_type(int device_type) {
 813                 this.device_type = device_type;
 814         }
 815
 816         public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
 817                 config_major = major;
 818                 config_minor = minor;
 819                 this.apogee_delay = apogee_delay;
 820                 this.main_deploy = main_deploy;
 821                 this.flight_log_max = flight_log_max;
 822         }
 823
 824         public void set_callsign(String callsign) {
 825                 this.callsign = callsign;
 826         }
 827
 828         public void set_firmware_version(String version) {
 829                 firmware_version = version;
 830         }
 831
 832         public void set_flight(int flight) {
 833
 834                 /* When the flight changes, reset the state */
 835                 if (flight != AltosLib.MISSING && flight != 0) {
 836                         if (this.flight != AltosLib.MISSING &&
 837                             this.flight != flight) {
 838                                 init();
 839                         }
 840                         this.flight = flight;
 841                 }
 842         }
 843
 844         public void set_serial(int serial) {
 845                 /* When the serial changes, reset the state */
 846                 if (serial != AltosLib.MISSING) {
 847                         if (this.serial != AltosLib.MISSING &&
 848                             this.serial != serial) {
 849                                 init();
 850                         }
 851                         this.serial = serial;
 852                 }
 853         }
 854
 855         public void set_receiver_serial(int serial) {
 856                 if (serial != AltosLib.MISSING)
 857                         receiver_serial = serial;
 858         }
 859
 860         public int rssi() {
 861                 if (rssi == AltosLib.MISSING)
 862                         return 0;
 863                 return rssi;
 864         }
 865
 866         public void set_rssi(int rssi, int status) {
 867                 if (rssi != AltosLib.MISSING) {
 868                         this.rssi = rssi;
 869                         this.status = status;
 870                 }
 871         }
 872
 873         public void set_received_time(long ms) {
 874                 received_time = ms;
 875         }
 876
 877         public void set_gps(AltosGPS gps, int sequence) {
 878                 if (gps != null) {
 879                         this.gps = gps.clone();
 880                         gps_sequence = sequence;
 881                         update_gps();
 882                         set |= set_gps;
 883                 }
 884         }
 885
 886         public void set_imu(AltosIMU imu) {
 887                 if (imu != null)
 888                         imu = imu.clone();
 889                 this.imu = imu;
 890         }
 891
 892         public void set_mag(AltosMag mag) {
 893                 this.mag = mag.clone();
 894         }
 895
 896         public AltosMs5607 make_baro() {
 897                 if (baro == null)
 898                         baro = new AltosMs5607();
 899                 return baro;
 900         }
 901
 902         public void set_ms5607(AltosMs5607 ms5607) {
 903                 baro = ms5607;
 904
 905                 if (baro != null) {
 906                         set_pressure(baro.pa);
 907                         set_temperature(baro.cc / 100.0);
 908                 }
 909         }
 910
 911         public void set_ms5607(int pres, int temp) {
 912                 if (baro != null) {
 913                         baro.set(pres, temp);
 914
 915                         set_pressure(baro.pa);
 916                         set_temperature(baro.cc / 100.0);
 917                 }
 918         }
 919
 920         public void make_companion (int nchannels) {
 921                 if (companion == null)
 922                         companion = new AltosCompanion(nchannels);
 923         }
 924
 925         public void set_companion(AltosCompanion companion) {
 926                 this.companion = companion;
 927         }
 928
 929         void update_accel() {
 930                 double  ground = ground_accel;
 931
 932                 if (ground == AltosLib.MISSING)
 933                         ground = ground_accel_avg;
 934                 if (accel == AltosLib.MISSING)
 935                         return;
 936                 if (ground == AltosLib.MISSING)
 937                         return;
 938                 if (accel_plus_g == AltosLib.MISSING)
 939                         return;
 940                 if (accel_minus_g == AltosLib.MISSING)
 941                         return;
 942
 943                 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
 944                 double counts_per_mss = counts_per_g / 9.80665;
 945                 acceleration.set_measured((ground - accel) / counts_per_mss, time);
 946         }
 947
 948         public void set_accel_g(double accel_plus_g, double accel_minus_g) {
 949                 if (accel_plus_g != AltosLib.MISSING) {
 950                         this.accel_plus_g = accel_plus_g;
 951                         this.accel_minus_g = accel_minus_g;
 952                         update_accel();
 953                 }
 954         }
 955
 956         public void set_ground_accel(double ground_accel) {
 957                 if (ground_accel != AltosLib.MISSING) {
 958                         this.ground_accel = ground_accel;
 959                         update_accel();
 960                 }
 961         }
 962
 963         public void set_accel(double accel) {
 964                 if (accel != AltosLib.MISSING) {
 965                         this.accel = accel;
 966                         if (state == AltosLib.ao_flight_pad) {
 967                                 if (ground_accel_avg == AltosLib.MISSING)
 968                                         ground_accel_avg = accel;
 969                                 else
 970                                         ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
 971                         }
 972                 }
 973                 update_accel();
 974         }
 975
 976         public void set_temperature(double temperature) {
 977                 if (temperature != AltosLib.MISSING) {
 978                         this.temperature = temperature;
 979                         set |= set_data;
 980                 }
 981         }
 982
 983         public void set_battery_voltage(double battery_voltage) {
 984                 if (battery_voltage != AltosLib.MISSING) {
 985                         this.battery_voltage = battery_voltage;
 986                         set |= set_data;
 987                 }
 988         }
 989
 990         public void set_pyro_voltage(double pyro_voltage) {
 991                 if (pyro_voltage != AltosLib.MISSING) {
 992                         this.pyro_voltage = pyro_voltage;
 993                         set |= set_data;
 994                 }
 995         }
 996
 997         public void set_apogee_voltage(double apogee_voltage) {
 998                 if (apogee_voltage != AltosLib.MISSING) {
 999                         this.apogee_voltage = apogee_voltage;
1000                         set |= set_data;
1001                 }
1002         }
1003
1004         public void set_main_voltage(double main_voltage) {
1005                 if (main_voltage != AltosLib.MISSING) {
1006                         this.main_voltage = main_voltage;
1007                         set |= set_data;
1008                 }
1009         }
1010
1011         public void set_ignitor_voltage(double[] voltage) {
1012                 this.ignitor_voltage = voltage;
1013         }
1014
1015         public double time_since_boost() {
1016                 if (tick == AltosLib.MISSING)
1017                         return 0.0;
1018
1019                 if (boost_tick != AltosLib.MISSING) {
1020                         return (tick - boost_tick) / 100.0;
1021                 }
1022                 return tick / 100.0;
1023         }
1024
1025         public boolean valid() {
1026                 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1027         }
1028
1029         public AltosGPS make_temp_gps(boolean sats) {
1030                 if (temp_gps == null) {
1031                         temp_gps = new AltosGPS(gps);
1032                 }
1033                 gps_pending = true;
1034                 if (sats) {
1035                         if (tick != temp_gps_sat_tick)
1036                                 temp_gps.cc_gps_sat = null;
1037                         temp_gps_sat_tick = tick;
1038                 }
1039                 return temp_gps;
1040         }
1041
1042         public void set_temp_gps() {
1043                 set_gps(temp_gps, gps_sequence + 1);
1044                 gps_pending = false;
1045                 temp_gps = null;
1046         }
1047
1048         public AltosState clone() {
1049                 AltosState s = new AltosState();
1050                 s.copy(this);
1051                 return s;
1052         }
1053
1054         public AltosState () {
1055                 init();
1056         }
1057 }