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         private AltosValue              gps_ground_speed;
 393         private AltosValue              gps_ascent_rate;
 394         private AltosValue              gps_course;
 395         private AltosValue              gps_speed;
 396
 397         public double altitude() {
 398                 double a = altitude.value();
 399                 if (a != AltosLib.MISSING)
 400                         return a;
 401                 return gps_altitude.value();
 402         }
 403
 404         public double max_altitude() {
 405                 double a = altitude.max();
 406                 if (a != AltosLib.MISSING)
 407                         return a;
 408                 return gps_altitude.max();
 409         }
 410
 411         public void set_altitude(double new_altitude) {
 412                 altitude.set_measured(new_altitude, time);
 413         }
 414
 415         public double gps_altitude() {
 416                 return gps_altitude.value();
 417         }
 418
 419         public double max_gps_altitude() {
 420                 return gps_altitude.max();
 421         }
 422
 423         public void set_gps_altitude(double new_gps_altitude) {
 424                 gps_altitude.set(new_gps_altitude, time);
 425         }
 426
 427         public double gps_ground_speed() {
 428                 return gps_ground_speed.value();
 429         }
 430
 431         public double max_gps_ground_speed() {
 432                 return gps_ground_speed.max();
 433         }
 434
 435         public double gps_ascent_rate() {
 436                 return gps_ascent_rate.value();
 437         }
 438
 439         public double max_gps_ascent_rate() {
 440                 return gps_ascent_rate.max();
 441         }
 442
 443         public double gps_course() {
 444                 return gps_course.value();
 445         }
 446
 447         public double gps_speed() {
 448                 return gps_speed.value();
 449         }
 450
 451         public double max_gps_speed() {
 452                 return gps_speed.max();
 453         }
 454
 455         class AltosPressure extends AltosValue {
 456                 void set(double p, double time) {
 457                         super.set(p, time);
 458                         if (state == AltosLib.ao_flight_pad)
 459                                 ground_pressure.set_filtered(p, time);
 460                         double a = pressure_to_altitude(p);
 461                         altitude.set_computed(a, time);
 462                 }
 463         }
 464
 465         private AltosPressure   pressure;
 466
 467         public double pressure() {
 468                 return pressure.value();
 469         }
 470
 471         public void set_pressure(double p) {
 472                 pressure.set(p, time);
 473         }
 474
 475         public double height() {
 476                 double k = kalman_height.value();
 477                 if (k != AltosLib.MISSING)
 478                         return k;
 479
 480                 double a = altitude();
 481                 double g = ground_altitude();
 482                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 483                         return a - g;
 484                 return gps_height();
 485         }
 486
 487         public double max_height() {
 488                 double  k = kalman_height.max();
 489                 if (k != AltosLib.MISSING)
 490                         return k;
 491
 492                 double a = altitude.max();
 493                 double g = ground_altitude();
 494                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 495                         return a - g;
 496                 return max_gps_height();
 497         }
 498
 499         public double gps_height() {
 500                 double a = gps_altitude();
 501                 double g = gps_ground_altitude();
 502
 503                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 504                         return a - g;
 505                 return AltosLib.MISSING;
 506         }
 507
 508         public double max_gps_height() {
 509                 double a = gps_altitude.max();
 510                 double g = gps_ground_altitude();
 511
 512                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 513                         return a - g;
 514                 return AltosLib.MISSING;
 515         }
 516
 517         class AltosSpeed extends AltosCValue {
 518
 519                 boolean can_max() {
 520                         return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
 521                 }
 522
 523                 void set_accel() {
 524                         acceleration.set_derivative(this);
 525                 }
 526
 527                 void set_derivative(AltosCValue in) {
 528                         super.set_derivative(in);
 529                         set_accel();
 530                 }
 531
 532                 void set_computed(double new_value, double time) {
 533                         super.set_computed(new_value, time);
 534                         set_accel();
 535                 }
 536
 537                 void set_measured(double new_value, double time) {
 538                         super.set_measured(new_value, time);
 539                         set_accel();
 540                 }
 541         }
 542
 543         private AltosSpeed speed;
 544
 545         public double speed() {
 546                 double v = kalman_speed.value();
 547                 if (v != AltosLib.MISSING)
 548                         return v;
 549                 v = speed.value();
 550                 if (v != AltosLib.MISSING)
 551                         return v;
 552                 v = gps_speed();
 553                 if (v != AltosLib.MISSING)
 554                         return v;
 555                 return AltosLib.MISSING;
 556         }
 557
 558         public double max_speed() {
 559                 double v = kalman_speed.max();
 560                 if (v != AltosLib.MISSING)
 561                         return v;
 562                 v = speed.max();
 563                 if (v != AltosLib.MISSING)
 564                         return v;
 565                 v = max_gps_speed();
 566                 if (v != AltosLib.MISSING)
 567                         return v;
 568                 return AltosLib.MISSING;
 569         }
 570
 571         class AltosAccel extends AltosCValue {
 572
 573                 boolean can_max() {
 574                         return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
 575                 }
 576
 577                 void set_measured(double a, double time) {
 578                         super.set_measured(a, time);
 579                         if (ascent)
 580                                 speed.set_integral(this.measured);
 581                 }
 582         }
 583
 584         AltosAccel acceleration;
 585
 586         public double acceleration() {
 587                 return acceleration.value();
 588         }
 589
 590         public double max_acceleration() {
 591                 return acceleration.max();
 592         }
 593
 594         public AltosValue       orient;
 595
 596         public void set_orient(double new_orient) {
 597                 orient.set(new_orient, time);
 598         }
 599
 600         public double orient() {
 601                 return orient.value();
 602         }
 603
 604         public double max_orient() {
 605                 return orient.max();
 606         }
 607
 608         public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 609
 610         public void set_kalman(double height, double speed, double acceleration) {
 611                 kalman_height.set(height, time);
 612                 kalman_speed.set(speed, time);
 613                 kalman_acceleration.set(acceleration, time);
 614         }
 615
 616         public double   battery_voltage;
 617         public double   pyro_voltage;
 618         public double   temperature;
 619         public double   apogee_voltage;
 620         public double   main_voltage;
 621
 622         public double   ignitor_voltage[];
 623
 624         public AltosGPS gps;
 625         public AltosGPS temp_gps;
 626         public int temp_gps_sat_tick;
 627         public boolean  gps_pending;
 628         public int gps_sequence;
 629
 630         public AltosIMU imu;
 631         public AltosMag mag;
 632
 633         public static final int MIN_PAD_SAMPLES = 10;
 634
 635         public int      npad;
 636         public int      gps_waiting;
 637         public boolean  gps_ready;
 638
 639         public int      ngps;
 640
 641         public AltosGreatCircle from_pad;
 642         public double   elevation;      /* from pad */
 643         public double   range;          /* total distance */
 644
 645         public double   gps_height;
 646
 647         public double pad_lat, pad_lon, pad_alt;
 648
 649         public int      speak_tick;
 650         public double   speak_altitude;
 651
 652         public String   callsign;
 653         public String   firmware_version;
 654
 655         public double   accel_plus_g;
 656         public double   accel_minus_g;
 657         public double   accel;
 658         public double   ground_accel;
 659         public double   ground_accel_avg;
 660
 661         public int      log_format;
 662         public String   product;
 663
 664         public AltosMs5607      baro;
 665
 666         public AltosCompanion   companion;
 667
 668         public int      pyro_fired;
 669
 670         public void set_npad(int npad) {
 671                 this.npad = npad;
 672                 gps_waiting = MIN_PAD_SAMPLES - npad;
 673                 if (this.gps_waiting < 0)
 674                         gps_waiting = 0;
 675                 gps_ready = gps_waiting == 0;
 676         }
 677
 678         public void init() {
 679                 set = 0;
 680
 681                 received_time = System.currentTimeMillis();
 682                 time = AltosLib.MISSING;
 683                 time_change = AltosLib.MISSING;
 684                 prev_time = AltosLib.MISSING;
 685                 tick = AltosLib.MISSING;
 686                 prev_tick = AltosLib.MISSING;
 687                 boost_tick = AltosLib.MISSING;
 688                 state = AltosLib.ao_flight_invalid;
 689                 flight = AltosLib.MISSING;
 690                 landed = false;
 691                 boost = false;
 692                 rssi = AltosLib.MISSING;
 693                 status = 0;
 694                 device_type = AltosLib.MISSING;
 695                 config_major = AltosLib.MISSING;
 696                 config_minor = AltosLib.MISSING;
 697                 apogee_delay = AltosLib.MISSING;
 698                 main_deploy = AltosLib.MISSING;
 699                 flight_log_max = AltosLib.MISSING;
 700
 701                 ground_altitude = new AltosCValue();
 702                 ground_pressure = new AltosGroundPressure();
 703                 altitude = new AltosAltitude();
 704                 pressure = new AltosPressure();
 705                 speed = new AltosSpeed();
 706                 acceleration = new AltosAccel();
 707                 orient = new AltosValue();
 708
 709                 temperature = AltosLib.MISSING;
 710                 battery_voltage = AltosLib.MISSING;
 711                 pyro_voltage = AltosLib.MISSING;
 712                 apogee_voltage = AltosLib.MISSING;
 713                 main_voltage = AltosLib.MISSING;
 714                 ignitor_voltage = null;
 715
 716                 kalman_height = new AltosValue();
 717                 kalman_speed = new AltosValue();
 718                 kalman_acceleration = new AltosValue();
 719
 720                 gps = null;
 721                 temp_gps = null;
 722                 temp_gps_sat_tick = 0;
 723                 gps_sequence = 0;
 724                 gps_pending = false;
 725
 726                 imu = null;
 727                 mag = null;
 728
 729                 set_npad(0);
 730                 ngps = 0;
 731
 732                 from_pad = null;
 733                 elevation = AltosLib.MISSING;
 734                 range = AltosLib.MISSING;
 735                 gps_height = AltosLib.MISSING;
 736
 737                 pad_lat = AltosLib.MISSING;
 738                 pad_lon = AltosLib.MISSING;
 739                 pad_alt = AltosLib.MISSING;
 740
 741                 gps_altitude = new AltosGpsAltitude();
 742                 gps_ground_altitude = new AltosGpsGroundAltitude();
 743                 gps_ground_speed = new AltosValue();
 744                 gps_speed = new AltosValue();
 745                 gps_ascent_rate = new AltosValue();
 746                 gps_course = new AltosValue();
 747
 748                 speak_tick = AltosLib.MISSING;
 749                 speak_altitude = AltosLib.MISSING;
 750
 751                 callsign = null;
 752                 firmware_version = null;
 753
 754                 accel_plus_g = AltosLib.MISSING;
 755                 accel_minus_g = AltosLib.MISSING;
 756                 accel = AltosLib.MISSING;
 757
 758                 ground_accel = AltosLib.MISSING;
 759                 ground_accel_avg = AltosLib.MISSING;
 760
 761                 log_format = AltosLib.MISSING;
 762                 product = null;
 763                 serial = AltosLib.MISSING;
 764                 receiver_serial = AltosLib.MISSING;
 765
 766                 baro = null;
 767                 companion = null;
 768
 769                 pyro_fired = 0;
 770         }
 771
 772         void finish_update() {
 773                 prev_tick = tick;
 774
 775                 ground_altitude.finish_update();
 776                 altitude.finish_update();
 777                 pressure.finish_update();
 778                 speed.finish_update();
 779                 acceleration.finish_update();
 780                 orient.finish_update();
 781
 782                 kalman_height.finish_update();
 783                 kalman_speed.finish_update();
 784                 kalman_acceleration.finish_update();
 785         }
 786
 787         void copy(AltosState old) {
 788
 789                 if (old == null) {
 790                         init();
 791                         return;
 792                 }
 793
 794                 received_time = old.received_time;
 795                 time = old.time;
 796                 time_change = old.time_change;
 797                 prev_time = old.time;
 798
 799                 tick = old.tick;
 800                 prev_tick = old.tick;
 801                 boost_tick = old.boost_tick;
 802
 803                 state = old.state;
 804                 flight = old.flight;
 805                 landed = old.landed;
 806                 ascent = old.ascent;
 807                 boost = old.boost;
 808                 rssi = old.rssi;
 809                 status = old.status;
 810                 device_type = old.device_type;
 811                 config_major = old.config_major;
 812                 config_minor = old.config_minor;
 813                 apogee_delay = old.apogee_delay;
 814                 main_deploy = old.main_deploy;
 815                 flight_log_max = old.flight_log_max;
 816
 817                 set = 0;
 818
 819                 ground_pressure.copy(old.ground_pressure);
 820                 ground_altitude.copy(old.ground_altitude);
 821                 altitude.copy(old.altitude);
 822                 pressure.copy(old.pressure);
 823                 speed.copy(old.speed);
 824                 acceleration.copy(old.acceleration);
 825                 orient.copy(old.orient);
 826
 827                 battery_voltage = old.battery_voltage;
 828                 pyro_voltage = old.pyro_voltage;
 829                 temperature = old.temperature;
 830                 apogee_voltage = old.apogee_voltage;
 831                 main_voltage = old.main_voltage;
 832                 ignitor_voltage = old.ignitor_voltage;
 833
 834                 kalman_height.copy(old.kalman_height);
 835                 kalman_speed.copy(old.kalman_speed);
 836                 kalman_acceleration.copy(old.kalman_acceleration);
 837
 838                 if (old.gps != null)
 839                         gps = old.gps.clone();
 840                 else
 841                         gps = null;
 842                 if (old.temp_gps != null)
 843                         temp_gps = old.temp_gps.clone();
 844                 else
 845                         temp_gps = null;
 846                 temp_gps_sat_tick = old.temp_gps_sat_tick;
 847                 gps_sequence = old.gps_sequence;
 848                 gps_pending = old.gps_pending;
 849
 850                 if (old.imu != null)
 851                         imu = old.imu.clone();
 852                 else
 853                         imu = null;
 854
 855                 if (old.mag != null)
 856                         mag = old.mag.clone();
 857                 else
 858                         mag = null;
 859
 860                 npad = old.npad;
 861                 gps_waiting = old.gps_waiting;
 862                 gps_ready = old.gps_ready;
 863                 ngps = old.ngps;
 864
 865                 if (old.from_pad != null)
 866                         from_pad = old.from_pad.clone();
 867                 else
 868                         from_pad = null;
 869
 870                 elevation = old.elevation;
 871                 range = old.range;
 872
 873                 gps_height = old.gps_height;
 874
 875                 gps_altitude.copy(old.gps_altitude);
 876                 gps_ground_altitude.copy(old.gps_ground_altitude);
 877                 gps_ground_speed.copy(old.gps_ground_speed);
 878                 gps_ascent_rate.copy(old.gps_ascent_rate);
 879                 gps_course.copy(old.gps_course);
 880                 gps_speed.copy(old.gps_speed);
 881
 882                 pad_lat = old.pad_lat;
 883                 pad_lon = old.pad_lon;
 884                 pad_alt = old.pad_alt;
 885
 886                 speak_tick = old.speak_tick;
 887                 speak_altitude = old.speak_altitude;
 888
 889                 callsign = old.callsign;
 890                 firmware_version = old.firmware_version;
 891
 892                 accel_plus_g = old.accel_plus_g;
 893                 accel_minus_g = old.accel_minus_g;
 894                 accel = old.accel;
 895                 ground_accel = old.ground_accel;
 896                 ground_accel_avg = old.ground_accel_avg;
 897
 898                 log_format = old.log_format;
 899                 product = old.product;
 900                 serial = old.serial;
 901                 receiver_serial = old.receiver_serial;
 902
 903                 baro = old.baro;
 904                 companion = old.companion;
 905
 906                 pyro_fired = old.pyro_fired;
 907         }
 908
 909         void update_time() {
 910         }
 911
 912         void update_gps() {
 913                 elevation = AltosLib.MISSING;
 914                 range = AltosLib.MISSING;
 915
 916                 if (gps == null)
 917                         return;
 918
 919                 if (gps.locked && gps.nsat >= 4) {
 920                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 921                         if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) {
 922                                 set_npad(npad+1);
 923                                 if (pad_lat != AltosLib.MISSING && (npad < 10 || state == AltosLib.ao_flight_pad)) {
 924                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
 925                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
 926                                         gps_ground_altitude.set_filtered(gps.alt, time);
 927                                 }
 928                         }
 929                         if (pad_lat == AltosLib.MISSING) {
 930                                 pad_lat = gps.lat;
 931                                 pad_lon = gps.lon;
 932                                 gps_ground_altitude.set(gps.alt, time);
 933                         }
 934                         gps_altitude.set(gps.alt, time);
 935                         if (gps.climb_rate != AltosLib.MISSING)
 936                                 gps_ascent_rate.set(gps.climb_rate, time);
 937                         if (gps.ground_speed != AltosLib.MISSING)
 938                                 gps_ground_speed.set(gps.ground_speed, time);
 939                         if (gps.climb_rate != AltosLib.MISSING && gps.ground_speed != AltosLib.MISSING)
 940                                 gps_speed.set(Math.sqrt(gps.ground_speed * gps.ground_speed +
 941                                                         gps.climb_rate * gps.climb_rate), time);
 942                         if (gps.course != AltosLib.MISSING)
 943                                 gps_course.set(gps.course, time);
 944                 }
 945                 if (gps.lat != 0 && gps.lon != 0 &&
 946                     pad_lat != AltosLib.MISSING &&
 947                     pad_lon != AltosLib.MISSING)
 948                 {
 949                         double h = height();
 950
 951                         if (h == AltosLib.MISSING)
 952                                 h = 0;
 953                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 954                         elevation = from_pad.elevation;
 955                         range = from_pad.range;
 956                 }
 957         }
 958
 959         public void set_tick(int new_tick) {
 960                 if (new_tick != AltosLib.MISSING) {
 961                         if (prev_tick != AltosLib.MISSING) {
 962                                 while (new_tick < prev_tick - 1000) {
 963                                         new_tick += 65536;
 964                                 }
 965                         }
 966                         tick = new_tick;
 967                         time = tick / 100.0;
 968                         time_change = time - prev_time;
 969                 }
 970         }
 971
 972         public void set_boost_tick(int boost_tick) {
 973                 if (boost_tick != AltosLib.MISSING)
 974                         this.boost_tick = boost_tick;
 975         }
 976
 977         public String state_name() {
 978                 return AltosLib.state_name(state);
 979         }
 980
 981         public void set_state(int state) {
 982                 if (state != AltosLib.ao_flight_invalid) {
 983                         this.state = state;
 984                         ascent = (AltosLib.ao_flight_boost <= state &&
 985                                   state <= AltosLib.ao_flight_coast);
 986                         boost = (AltosLib.ao_flight_boost == state);
 987                 }
 988         }
 989
 990         public void set_device_type(int device_type) {
 991                 this.device_type = device_type;
 992                 switch (device_type) {
 993                 case AltosLib.product_telegps:
 994                         this.state = AltosLib.ao_flight_stateless;
 995                         break;
 996                 }
 997         }
 998
 999         public void set_log_format(int log_format) {
1000                 this.log_format = log_format;
1001                 switch (log_format) {
1002                 case AltosLib.AO_LOG_FORMAT_TELEGPS:
1003                         this.state = AltosLib.ao_flight_stateless;
1004                         break;
1005                 }
1006         }
1007
1008         public void set_flight_params(int apogee_delay, int main_deploy) {
1009                 this.apogee_delay = apogee_delay;
1010                 this.main_deploy = main_deploy;
1011         }
1012
1013         public void set_config(int major, int minor, int flight_log_max) {
1014                 config_major = major;
1015                 config_minor = minor;
1016                 this.flight_log_max = flight_log_max;
1017         }
1018
1019         public void set_callsign(String callsign) {
1020                 this.callsign = callsign;
1021         }
1022
1023         public void set_firmware_version(String version) {
1024                 firmware_version = version;
1025         }
1026
1027         public void set_flight(int flight) {
1028
1029                 /* When the flight changes, reset the state */
1030                 if (flight != AltosLib.MISSING && flight != 0) {
1031                         if (this.flight != AltosLib.MISSING &&
1032                             this.flight != flight) {
1033                                 int bt = boost_tick;
1034                                 init();
1035                                 boost_tick = bt;
1036                         }
1037                         this.flight = flight;
1038                 }
1039         }
1040
1041         public void set_serial(int serial) {
1042                 /* When the serial changes, reset the state */
1043                 if (serial != AltosLib.MISSING) {
1044                         if (this.serial != AltosLib.MISSING &&
1045                             this.serial != serial) {
1046                                 int bt = boost_tick;
1047                                 init();
1048                                 boost_tick = bt;
1049                         }
1050                         this.serial = serial;
1051                 }
1052         }
1053
1054         public void set_receiver_serial(int serial) {
1055                 if (serial != AltosLib.MISSING)
1056                         receiver_serial = serial;
1057         }
1058
1059         public int rssi() {
1060                 if (rssi == AltosLib.MISSING)
1061                         return 0;
1062                 return rssi;
1063         }
1064
1065         public void set_rssi(int rssi, int status) {
1066                 if (rssi != AltosLib.MISSING) {
1067                         this.rssi = rssi;
1068                         this.status = status;
1069                 }
1070         }
1071
1072         public void set_received_time(long ms) {
1073                 received_time = ms;
1074         }
1075
1076         public void set_gps(AltosGPS gps, int sequence) {
1077                 if (gps != null) {
1078                         this.gps = gps.clone();
1079                         gps_sequence = sequence;
1080                         update_gps();
1081                         set |= set_gps;
1082                 }
1083         }
1084
1085         public void set_imu(AltosIMU imu) {
1086                 if (imu != null)
1087                         imu = imu.clone();
1088                 this.imu = imu;
1089         }
1090
1091         public void set_mag(AltosMag mag) {
1092                 this.mag = mag.clone();
1093         }
1094
1095         public AltosMs5607 make_baro() {
1096                 if (baro == null)
1097                         baro = new AltosMs5607();
1098                 return baro;
1099         }
1100
1101         public void set_ms5607(AltosMs5607 ms5607) {
1102                 baro = ms5607;
1103
1104                 if (baro != null) {
1105                         set_pressure(baro.pa);
1106                         set_temperature(baro.cc / 100.0);
1107                 }
1108         }
1109
1110         public void set_ms5607(int pres, int temp) {
1111                 if (baro != null) {
1112                         baro.set(pres, temp);
1113
1114                         set_pressure(baro.pa);
1115                         set_temperature(baro.cc / 100.0);
1116                 }
1117         }
1118
1119         public void make_companion (int nchannels) {
1120                 if (companion == null)
1121                         companion = new AltosCompanion(nchannels);
1122         }
1123
1124         public void set_companion(AltosCompanion companion) {
1125                 this.companion = companion;
1126         }
1127
1128         void update_accel() {
1129                 if (accel == AltosLib.MISSING)
1130                         return;
1131                 if (accel_plus_g == AltosLib.MISSING)
1132                         return;
1133                 if (accel_minus_g == AltosLib.MISSING)
1134                         return;
1135
1136                 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
1137                 double counts_per_mss = counts_per_g / 9.80665;
1138                 acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
1139         }
1140
1141         public void set_accel_g(double accel_plus_g, double accel_minus_g) {
1142                 if (accel_plus_g != AltosLib.MISSING) {
1143                         this.accel_plus_g = accel_plus_g;
1144                         this.accel_minus_g = accel_minus_g;
1145                         update_accel();
1146                 }
1147         }
1148
1149         public void set_ground_accel(double ground_accel) {
1150                 if (ground_accel != AltosLib.MISSING)
1151                         this.ground_accel = ground_accel;
1152         }
1153
1154         public void set_accel(double accel) {
1155                 if (accel != AltosLib.MISSING) {
1156                         this.accel = accel;
1157                         if (state == AltosLib.ao_flight_pad) {
1158                                 if (ground_accel_avg == AltosLib.MISSING)
1159                                         ground_accel_avg = accel;
1160                                 else
1161                                         ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
1162                         }
1163                 }
1164                 update_accel();
1165         }
1166
1167         public void set_temperature(double temperature) {
1168                 if (temperature != AltosLib.MISSING) {
1169                         this.temperature = temperature;
1170                         set |= set_data;
1171                 }
1172         }
1173
1174         public void set_battery_voltage(double battery_voltage) {
1175                 if (battery_voltage != AltosLib.MISSING) {
1176                         this.battery_voltage = battery_voltage;
1177                         set |= set_data;
1178                 }
1179         }
1180
1181         public void set_pyro_voltage(double pyro_voltage) {
1182                 if (pyro_voltage != AltosLib.MISSING) {
1183                         this.pyro_voltage = pyro_voltage;
1184                         set |= set_data;
1185                 }
1186         }
1187
1188         public void set_apogee_voltage(double apogee_voltage) {
1189                 if (apogee_voltage != AltosLib.MISSING) {
1190                         this.apogee_voltage = apogee_voltage;
1191                         set |= set_data;
1192                 }
1193         }
1194
1195         public void set_main_voltage(double main_voltage) {
1196                 if (main_voltage != AltosLib.MISSING) {
1197                         this.main_voltage = main_voltage;
1198                         set |= set_data;
1199                 }
1200         }
1201
1202         public void set_ignitor_voltage(double[] voltage) {
1203                 this.ignitor_voltage = voltage;
1204         }
1205
1206         public void set_pyro_fired(int fired) {
1207                 this.pyro_fired = fired;
1208         }
1209
1210         public double time_since_boost() {
1211                 if (tick == AltosLib.MISSING)
1212                         return 0.0;
1213
1214                 if (boost_tick == AltosLib.MISSING)
1215                         return tick / 100.0;
1216                 return (tick - boost_tick) / 100.0;
1217         }
1218
1219         public boolean valid() {
1220                 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1221         }
1222
1223         public AltosGPS make_temp_gps(boolean sats) {
1224                 if (temp_gps == null) {
1225                         temp_gps = new AltosGPS(gps);
1226                 }
1227                 gps_pending = true;
1228                 if (sats) {
1229                         if (tick != temp_gps_sat_tick)
1230                                 temp_gps.cc_gps_sat = null;
1231                         temp_gps_sat_tick = tick;
1232                 }
1233                 return temp_gps;
1234         }
1235
1236         public void set_temp_gps() {
1237                 set_gps(temp_gps, gps_sequence + 1);
1238                 gps_pending = false;
1239                 temp_gps = null;
1240         }
1241
1242         public AltosState clone() {
1243                 AltosState s = new AltosState();
1244                 s.copy(this);
1245                 return s;
1246         }
1247
1248         public AltosState () {
1249                 init();
1250         }
1251 }