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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         /* derived data */
  34
  35         public long     received_time;
  36
  37         public double   time;
  38         public double   prev_time;
  39         public double   time_change;
  40         public int      tick;
  41         public int      boost_tick;
  42
  43         public int      state;
  44         public int      flight;
  45         public int      serial;
  46         public boolean  landed;
  47         public boolean  ascent; /* going up? */
  48         public boolean  boost;  /* under power */
  49         public int      rssi;
  50         public int      status;
  51         public int      device_type;
  52         public int      config_major;
  53         public int      config_minor;
  54         public int      apogee_delay;
  55         public int      main_deploy;
  56         public int      flight_log_max;
  57
  58         public double   ground_altitude;
  59         public double   ground_pressure;
  60         public double   altitude;
  61         public double   height;
  62         public double   pressure;
  63         public double   acceleration;
  64         public double   battery_voltage;
  65         public double   pyro_voltage;
  66         public double   temperature;
  67         public double   apogee_voltage;
  68         public double   main_voltage;
  69         public double   speed;
  70         public double   ignitor_voltage[];
  71
  72         public double   prev_height;
  73         public double   prev_speed;
  74         public double   prev_acceleration;
  75
  76         public double   prev_max_height;
  77         public double   prev_max_acceleration;
  78         public double   prev_max_speed;
  79
  80         public double   max_height;
  81         public double   max_acceleration;
  82         public double   max_speed;
  83
  84         public double   kalman_height, kalman_speed, kalman_acceleration;
  85
  86         public AltosGPS gps;
  87         public AltosGPS temp_gps;
  88         public boolean  gps_pending;
  89         public int gps_sequence;
  90
  91         public AltosIMU imu;
  92         public AltosMag mag;
  93
  94         public static final int MIN_PAD_SAMPLES = 10;
  95
  96         public int      npad;
  97         public int      gps_waiting;
  98         public boolean  gps_ready;
  99
 100         public int      ngps;
 101
 102         public AltosGreatCircle from_pad;
 103         public double   elevation;      /* from pad */
 104         public double   range;          /* total distance */
 105
 106         public double   gps_height;
 107
 108         public double pad_lat, pad_lon, pad_alt;
 109
 110         public int      speak_tick;
 111         public double   speak_altitude;
 112
 113         public String   callsign;
 114         public String   firmware_version;
 115
 116         public double   accel_plus_g;
 117         public double   accel_minus_g;
 118         public double   accel;
 119         public double   ground_accel;
 120         public double   ground_accel_avg;
 121
 122         public int      log_format;
 123
 124         public AltosMs5607      baro;
 125
 126         public AltosRecordCompanion     companion;
 127
 128         public double speed() {
 129                 return speed;
 130         }
 131
 132         public double max_speed() {
 133                 return max_speed;
 134         }
 135
 136         public void set_npad(int npad) {
 137                 this.npad = npad;
 138                 gps_waiting = MIN_PAD_SAMPLES - npad;
 139                 if (this.gps_waiting < 0)
 140                         gps_waiting = 0;
 141                 gps_ready = gps_waiting == 0;
 142         }
 143
 144         public void init() {
 145                 record = null;
 146
 147                 set = 0;
 148
 149                 received_time = System.currentTimeMillis();
 150                 time = AltosRecord.MISSING;
 151                 time_change = AltosRecord.MISSING;
 152                 prev_time = AltosRecord.MISSING;
 153                 tick = AltosRecord.MISSING;
 154                 boost_tick = AltosRecord.MISSING;
 155                 state = AltosLib.ao_flight_invalid;
 156                 flight = AltosRecord.MISSING;
 157                 landed = false;
 158                 boost = false;
 159                 rssi = AltosRecord.MISSING;
 160                 status = 0;
 161                 device_type = AltosRecord.MISSING;
 162                 config_major = AltosRecord.MISSING;
 163                 config_minor = AltosRecord.MISSING;
 164                 apogee_delay = AltosRecord.MISSING;
 165                 main_deploy = AltosRecord.MISSING;
 166                 flight_log_max = AltosRecord.MISSING;
 167
 168                 ground_altitude = AltosRecord.MISSING;
 169                 ground_pressure = AltosRecord.MISSING;
 170                 altitude = AltosRecord.MISSING;
 171                 height = AltosRecord.MISSING;
 172                 pressure = AltosRecord.MISSING;
 173                 acceleration = AltosRecord.MISSING;
 174                 temperature = AltosRecord.MISSING;
 175
 176                 prev_height = AltosRecord.MISSING;
 177                 prev_speed = AltosRecord.MISSING;
 178                 prev_acceleration = AltosRecord.MISSING;
 179
 180                 prev_max_height = 0;
 181                 prev_max_speed = 0;
 182                 prev_max_acceleration = 0;
 183
 184                 battery_voltage = AltosRecord.MISSING;
 185                 pyro_voltage = AltosRecord.MISSING;
 186                 apogee_voltage = AltosRecord.MISSING;
 187                 main_voltage = AltosRecord.MISSING;
 188                 ignitor_voltage = null;
 189
 190                 speed = AltosRecord.MISSING;
 191
 192                 kalman_height = AltosRecord.MISSING;
 193                 kalman_speed = AltosRecord.MISSING;
 194                 kalman_acceleration = AltosRecord.MISSING;
 195
 196                 max_speed = 0;
 197                 max_height = 0;
 198                 max_acceleration = 0;
 199
 200                 gps = null;
 201                 temp_gps = null;
 202                 gps_sequence = 0;
 203                 gps_pending = false;
 204
 205                 imu = null;
 206                 mag = null;
 207
 208                 set_npad(0);
 209                 ngps = 0;
 210
 211                 from_pad = null;
 212                 elevation = AltosRecord.MISSING;
 213                 range = AltosRecord.MISSING;
 214                 gps_height = AltosRecord.MISSING;
 215
 216                 pad_lat = AltosRecord.MISSING;
 217                 pad_lon = AltosRecord.MISSING;
 218                 pad_alt = AltosRecord.MISSING;
 219
 220                 speak_tick = AltosRecord.MISSING;
 221                 speak_altitude = AltosRecord.MISSING;
 222
 223                 callsign = null;
 224
 225                 accel_plus_g = AltosRecord.MISSING;
 226                 accel_minus_g = AltosRecord.MISSING;
 227                 accel = AltosRecord.MISSING;
 228                 ground_accel = AltosRecord.MISSING;
 229                 ground_accel_avg = AltosRecord.MISSING;
 230                 log_format = AltosRecord.MISSING;
 231                 serial = AltosRecord.MISSING;
 232
 233                 baro = null;
 234                 companion = null;
 235         }
 236
 237         void copy(AltosState old) {
 238
 239                 record = null;
 240
 241                 if (old == null) {
 242                         init();
 243                         return;
 244                 }
 245
 246                 received_time = old.received_time;
 247                 time = old.time;
 248                 time_change = 0;
 249                 tick = old.tick;
 250                 boost_tick = old.boost_tick;
 251
 252                 state = old.state;
 253                 flight = old.flight;
 254                 landed = old.landed;
 255                 ascent = old.ascent;
 256                 boost = old.boost;
 257                 rssi = old.rssi;
 258                 status = old.status;
 259                 device_type = old.device_type;
 260                 config_major = old.config_major;
 261                 config_minor = old.config_minor;
 262                 apogee_delay = old.apogee_delay;
 263                 main_deploy = old.main_deploy;
 264                 flight_log_max = old.flight_log_max;
 265
 266                 set = 0;
 267
 268                 ground_altitude = old.ground_altitude;
 269                 altitude = old.altitude;
 270                 height = old.height;
 271                 pressure = old.pressure;
 272                 acceleration = old.acceleration;
 273                 battery_voltage = old.battery_voltage;
 274                 pyro_voltage = old.pyro_voltage;
 275                 temperature = old.temperature;
 276                 apogee_voltage = old.apogee_voltage;
 277                 main_voltage = old.main_voltage;
 278                 ignitor_voltage = old.ignitor_voltage;
 279                 speed = old.speed;
 280
 281                 prev_height = old.height;
 282                 prev_speed = old.speed;
 283                 prev_acceleration = old.acceleration;
 284
 285                 prev_max_height = old.max_height;
 286                 prev_max_speed = old.max_speed;
 287                 prev_max_acceleration = old.max_acceleration;
 288                 prev_time = old.time;
 289
 290                 max_height = old.max_height;
 291                 max_acceleration = old.max_acceleration;
 292                 max_speed = old.max_speed;
 293
 294                 kalman_height = old.kalman_height;
 295                 kalman_speed = old.kalman_speed;
 296                 kalman_acceleration = old.kalman_acceleration;
 297
 298                 if (old.gps != null)
 299                         gps = old.gps.clone();
 300                 else
 301                         gps = null;
 302                 if (old.temp_gps != null)
 303                         temp_gps = old.temp_gps.clone();
 304                 else
 305                         temp_gps = null;
 306                 gps_sequence = old.gps_sequence;
 307                 gps_pending = old.gps_pending;
 308
 309                 if (old.imu != null)
 310                         imu = old.imu.clone();
 311                 else
 312                         imu = null;
 313
 314                 if (old.mag != null)
 315                         mag = old.mag.clone();
 316                 else
 317                         mag = null;
 318
 319                 npad = old.npad;
 320                 gps_waiting = old.gps_waiting;
 321                 gps_ready = old.gps_ready;
 322                 ngps = old.ngps;
 323
 324                 if (old.from_pad != null)
 325                         from_pad = old.from_pad.clone();
 326                 else
 327                         from_pad = null;
 328
 329                 elevation = old.elevation;
 330                 range = old.range;
 331
 332                 gps_height = old.gps_height;
 333                 pad_lat = old.pad_lat;
 334                 pad_lon = old.pad_lon;
 335                 pad_alt = old.pad_alt;
 336
 337                 speak_tick = old.speak_tick;
 338                 speak_altitude = old.speak_altitude;
 339
 340                 callsign = old.callsign;
 341
 342                 accel_plus_g = old.accel_plus_g;
 343                 accel_minus_g = old.accel_minus_g;
 344                 accel = old.accel;
 345                 ground_accel = old.ground_accel;
 346                 ground_accel_avg = old.ground_accel_avg;
 347
 348                 log_format = old.log_format;
 349                 serial = old.serial;
 350
 351                 baro = old.baro;
 352                 companion = old.companion;
 353         }
 354
 355         double altitude() {
 356                 if (altitude != AltosRecord.MISSING)
 357                         return altitude;
 358                 if (gps != null)
 359                         return gps.alt;
 360                 return AltosRecord.MISSING;
 361         }
 362
 363         void update_vertical_pos() {
 364
 365                 double  alt = altitude();
 366
 367                 if (state == AltosLib.ao_flight_pad && alt != AltosRecord.MISSING && ground_pressure == AltosRecord.MISSING) {
 368                         if (ground_altitude == AltosRecord.MISSING)
 369                                 ground_altitude = alt;
 370                         else
 371                                 ground_altitude = (ground_altitude * 7 + alt) / 8;
 372                 }
 373
 374                 if (kalman_height != AltosRecord.MISSING)
 375                         height = kalman_height;
 376                 else if (altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING)
 377                         height = altitude - ground_altitude;
 378                 else
 379                         height = AltosRecord.MISSING;
 380
 381                 if (height != AltosRecord.MISSING && height > prev_max_height)
 382                         max_height = height;
 383
 384                 update_speed();
 385         }
 386
 387         double motion_filter_value() {
 388                 return 1/ Math.exp(time_change/2.0);
 389         }
 390
 391         void update_speed() {
 392                 if (kalman_speed != AltosRecord.MISSING)
 393                         speed = kalman_speed;
 394                 else if (state != AltosLib.ao_flight_invalid &&
 395                          time_change != AltosRecord.MISSING)
 396                 {
 397                         if (ascent && acceleration != AltosRecord.MISSING)
 398                         {
 399                                 if (prev_speed == AltosRecord.MISSING)
 400                                         speed = acceleration * time_change;
 401                                 else
 402                                         speed = prev_speed + acceleration * time_change;
 403                         }
 404                         else if (height != AltosRecord.MISSING &&
 405                                  prev_height != AltosRecord.MISSING &&
 406                                  time_change != 0)
 407                         {
 408                                 double  new_speed = (height - prev_height) / time_change;
 409
 410                                 if (prev_speed == AltosRecord.MISSING)
 411                                         speed = new_speed;
 412                                 else {
 413                                         double  filter = motion_filter_value();
 414
 415                                         speed = prev_speed * filter + new_speed * (1-filter);
 416                                 }
 417                         }
 418                 }
 419                 if (acceleration == AltosRecord.MISSING) {
 420                         if (prev_speed != AltosRecord.MISSING && time_change != 0) {
 421                                 double  new_acceleration = (speed - prev_speed) / time_change;
 422
 423                                 if (prev_acceleration == AltosRecord.MISSING)
 424                                         acceleration = new_acceleration;
 425                                 else {
 426                                         double filter = motion_filter_value();
 427
 428                                         acceleration = prev_acceleration * filter + new_acceleration * (1-filter);
 429                                 }
 430                         }
 431                 }
 432                 if (boost && speed != AltosRecord.MISSING && speed > prev_max_speed)
 433                         max_speed = speed;
 434         }
 435
 436         void update_accel() {
 437                 if (kalman_acceleration != AltosRecord.MISSING) {
 438                         acceleration = kalman_acceleration;
 439                 } else {
 440                         double  ground = ground_accel;
 441
 442                         if (ground == AltosRecord.MISSING)
 443                                 ground = ground_accel_avg;
 444                         if (accel == AltosRecord.MISSING)
 445                                 return;
 446                         if (ground == AltosRecord.MISSING)
 447                                 return;
 448                         if (accel_plus_g == AltosRecord.MISSING)
 449                                 return;
 450                         if (accel_minus_g == AltosRecord.MISSING)
 451                                 return;
 452
 453                         double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
 454                         double counts_per_mss = counts_per_g / 9.80665;
 455                         acceleration = (ground - accel) / counts_per_mss;
 456                 }
 457
 458                 /* Only look at accelerometer data under boost */
 459                 if (boost && acceleration != AltosRecord.MISSING && acceleration > prev_max_acceleration)
 460                         max_acceleration = acceleration;
 461                 update_speed();
 462         }
 463
 464         void update_time() {
 465                 if (tick != AltosRecord.MISSING) {
 466                         time = tick / 100.0;
 467                         if (prev_time != AltosRecord.MISSING)
 468                                 time_change = time - prev_time;
 469                 }
 470         }
 471
 472         void update_gps() {
 473                 elevation = 0;
 474                 range = -1;
 475                 gps_height = 0;
 476
 477                 if (gps == null)
 478                         return;
 479
 480                 if (gps.locked && gps.nsat >= 4) {
 481                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 482                         if (state == AltosLib.ao_flight_pad) {
 483                                 set_npad(npad+1);
 484                                 if (pad_lat != AltosRecord.MISSING) {
 485                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
 486                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
 487                                         pad_alt = (pad_alt * 31 + gps.alt) / 32;
 488                                 }
 489                         }
 490                         if (pad_lat == AltosRecord.MISSING) {
 491                                 pad_lat = gps.lat;
 492                                 pad_lon = gps.lon;
 493                                 pad_alt = gps.alt;
 494                         }
 495                 }
 496                 if (gps.lat != 0 && gps.lon != 0 &&
 497                     pad_lat != AltosRecord.MISSING &&
 498                     pad_lon != AltosRecord.MISSING)
 499                 {
 500                         double h = height;
 501
 502                         if (h == AltosRecord.MISSING)
 503                                 h = 0;
 504                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 505                         elevation = from_pad.elevation;
 506                         range = from_pad.range;
 507                         gps_height = gps.alt - pad_alt;
 508                 }
 509         }
 510
 511         public void set_tick(int tick) {
 512                 if (tick != AltosRecord.MISSING) {
 513                         if (this.tick != AltosRecord.MISSING) {
 514                                 while (tick < this.tick)
 515                                         tick += 65536;
 516                                 time_change = (tick - this.tick) / 100.0;
 517                         } else
 518                                 time_change = 0;
 519                         this.tick = tick;
 520                         update_time();
 521                 }
 522         }
 523
 524         public void set_boost_tick(int boost_tick) {
 525                 if (boost_tick != AltosRecord.MISSING)
 526                         this.boost_tick = boost_tick;
 527         }
 528
 529         public String state_name() {
 530                 return AltosLib.state_name(state);
 531         }
 532
 533         public void set_state(int state) {
 534                 if (state != AltosLib.ao_flight_invalid) {
 535                         this.state = state;
 536                         ascent = (AltosLib.ao_flight_boost <= state &&
 537                                   state <= AltosLib.ao_flight_coast);
 538                         boost = (AltosLib.ao_flight_boost == state);
 539                 }
 540
 541         }
 542
 543         public void set_device_type(int device_type) {
 544                 this.device_type = device_type;
 545         }
 546
 547         public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
 548                 config_major = major;
 549                 config_minor = minor;
 550                 this.apogee_delay = apogee_delay;
 551                 this.main_deploy = main_deploy;
 552                 this.flight_log_max = flight_log_max;
 553         }
 554
 555         public void set_callsign(String callsign) {
 556                 this.callsign = callsign;
 557         }
 558
 559         public void set_firmware_version(String version) {
 560                 firmware_version = version;
 561         }
 562
 563         public void set_flight(int flight) {
 564
 565                 /* When the flight changes, reset the state */
 566                 if (flight != AltosRecord.MISSING) {
 567                         if (this.flight != AltosRecord.MISSING &&
 568                             this.flight != flight) {
 569                                 init();
 570                         }
 571                         this.flight = flight;
 572                 }
 573         }
 574
 575         public void set_serial(int serial) {
 576                 /* When the serial changes, reset the state */
 577                 if (serial != AltosRecord.MISSING) {
 578                         if (this.serial != AltosRecord.MISSING &&
 579                             this.serial != serial) {
 580                                 init();
 581                         }
 582                         this.serial = serial;
 583                 }
 584         }
 585
 586         public int rssi() {
 587                 if (rssi == AltosRecord.MISSING)
 588                         return 0;
 589                 return rssi;
 590         }
 591
 592         public void set_rssi(int rssi, int status) {
 593                 if (rssi != AltosRecord.MISSING) {
 594                         this.rssi = rssi;
 595                         this.status = status;
 596                 }
 597         }
 598
 599         public void set_received_time(long ms) {
 600                 received_time = ms;
 601         }
 602
 603         public void set_altitude(double altitude) {
 604                 if (altitude != AltosRecord.MISSING) {
 605                         this.altitude = altitude;
 606                         update_vertical_pos();
 607                         set |= set_position;
 608                 }
 609         }
 610
 611         public void set_ground_altitude(double ground_altitude) {
 612                 if (ground_altitude != AltosRecord.MISSING) {
 613                         this.ground_altitude = ground_altitude;
 614                         update_vertical_pos();
 615                 }
 616         }
 617
 618         public void set_ground_pressure (double pressure) {
 619                 if (pressure != AltosRecord.MISSING) {
 620                         this.ground_pressure = pressure;
 621                         set_ground_altitude(AltosConvert.pressure_to_altitude(pressure));
 622                         update_vertical_pos();
 623                 }
 624         }
 625
 626         public void set_gps(AltosGPS gps, int sequence) {
 627                 if (gps != null) {
 628                         this.gps = gps.clone();
 629                         gps_sequence = sequence;
 630                         update_gps();
 631                         update_vertical_pos();
 632                         set |= set_gps;
 633                 }
 634         }
 635
 636         public void set_kalman(double height, double speed, double acceleration) {
 637                 if (height != AltosRecord.MISSING) {
 638                         kalman_height = height;
 639                         kalman_speed = speed;
 640                         kalman_acceleration = acceleration;
 641                         update_vertical_pos();
 642                         update_speed();
 643                         update_accel();
 644                 }
 645         }
 646
 647         public void set_pressure(double pressure) {
 648                 if (pressure != AltosRecord.MISSING) {
 649                         this.pressure = pressure;
 650                         set_altitude(AltosConvert.pressure_to_altitude(pressure));
 651                 }
 652         }
 653
 654         public void make_baro() {
 655                 if (baro == null)
 656                         baro = new AltosMs5607();
 657         }
 658
 659         public void set_ms5607(int pres, int temp) {
 660                 if (baro != null) {
 661                         baro.set(pres, temp);
 662
 663                         set_pressure(baro.pa);
 664                         set_temperature(baro.cc / 100.0);
 665                 }
 666         }
 667
 668         public void make_companion (int nchannels) {
 669                 if (companion == null)
 670                         companion = new AltosRecordCompanion(nchannels);
 671         }
 672
 673         public void set_companion(AltosRecordCompanion companion) {
 674                 this.companion = companion;
 675         }
 676
 677         public void set_accel_g(double accel_plus_g, double accel_minus_g) {
 678                 if (accel_plus_g != AltosRecord.MISSING) {
 679                         this.accel_plus_g = accel_plus_g;
 680                         this.accel_minus_g = accel_minus_g;
 681                         update_accel();
 682                 }
 683         }
 684         public void set_ground_accel(double ground_accel) {
 685                 if (ground_accel != AltosRecord.MISSING) {
 686                         this.ground_accel = ground_accel;
 687                         update_accel();
 688                 }
 689         }
 690
 691         public void set_accel(double accel) {
 692                 if (accel != AltosRecord.MISSING) {
 693                         this.accel = accel;
 694                         if (state == AltosLib.ao_flight_pad) {
 695                                 if (ground_accel_avg == AltosRecord.MISSING)
 696                                         ground_accel_avg = accel;
 697                                 else
 698                                         ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
 699                         }
 700                 }
 701                 update_accel();
 702         }
 703
 704         public void set_temperature(double temperature) {
 705                 if (temperature != AltosRecord.MISSING) {
 706                         this.temperature = temperature;
 707                         set |= set_data;
 708                 }
 709         }
 710
 711         public void set_battery_voltage(double battery_voltage) {
 712                 if (battery_voltage != AltosRecord.MISSING) {
 713                         this.battery_voltage = battery_voltage;
 714                         set |= set_data;
 715                 }
 716         }
 717
 718         public void set_pyro_voltage(double pyro_voltage) {
 719                 if (pyro_voltage != AltosRecord.MISSING) {
 720                         this.pyro_voltage = pyro_voltage;
 721                         set |= set_data;
 722                 }
 723         }
 724
 725         public void set_apogee_voltage(double apogee_voltage) {
 726                 if (apogee_voltage != AltosRecord.MISSING) {
 727                         this.apogee_voltage = apogee_voltage;
 728                         set |= set_data;
 729                 }
 730         }
 731
 732         public void set_main_voltage(double main_voltage) {
 733                 if (main_voltage != AltosRecord.MISSING) {
 734                         this.main_voltage = main_voltage;
 735                         set |= set_data;
 736                 }
 737         }
 738
 739         public void set_ignitor_voltage(double[] voltage) {
 740                 this.ignitor_voltage = voltage;
 741         }
 742
 743         public double time_since_boost() {
 744                 if (tick == AltosRecord.MISSING)
 745                         return 0.0;
 746
 747                 if (boost_tick != AltosRecord.MISSING) {
 748                         return (tick - boost_tick) / 100.0;
 749                 }
 750                 return tick / 100.0;
 751         }
 752
 753         public boolean valid() {
 754                 return tick != AltosRecord.MISSING && serial != AltosRecord.MISSING;
 755         }
 756
 757         public AltosGPS make_temp_gps() {
 758                 if (temp_gps == null) {
 759                         temp_gps = new AltosGPS(gps);
 760                         temp_gps.cc_gps_sat = null;
 761                 }
 762                 gps_pending = true;
 763                 return temp_gps;
 764         }
 765
 766         public void set_temp_gps() {
 767                 set_gps(temp_gps, gps_sequence + 1);
 768                 gps_pending = false;
 769                 temp_gps = null;
 770         }
 771
 772         public AltosState clone() {
 773                 AltosState s = new AltosState();
 774                 s.copy(this);
 775                 return s;
 776         }
 777
 778
 779         public void init (AltosRecord cur, AltosState prev_state) {
 780
 781                 System.out.printf ("init\n");
 782                 if (cur == null)
 783                         cur = new AltosRecord();
 784
 785                 record = cur;
 786
 787                 /* Discard previous state if it was for a different board */
 788                 if (prev_state != null && prev_state.serial != cur.serial)
 789                         prev_state = null;
 790
 791                 copy(prev_state);
 792
 793                 set_ground_altitude(cur.ground_altitude());
 794                 set_altitude(cur.altitude());
 795
 796                 set_kalman(cur.kalman_height, cur.kalman_speed, cur.kalman_acceleration);
 797
 798                 received_time = System.currentTimeMillis();
 799
 800                 set_temperature(cur.temperature());
 801                 set_apogee_voltage(cur.drogue_voltage());
 802                 set_main_voltage(cur.main_voltage());
 803                 set_battery_voltage(cur.battery_voltage());
 804
 805                 set_pressure(cur.pressure());
 806
 807                 set_tick(cur.tick);
 808                 set_state(cur.state);
 809
 810                 set_accel_g (cur.accel_minus_g, cur.accel_plus_g);
 811                 set_ground_accel(cur.ground_accel);
 812                 set_accel (cur.accel);
 813
 814                 if (cur.gps_sequence != gps_sequence)
 815                         set_gps(cur.gps, cur.gps_sequence);
 816
 817         }
 818
 819         public AltosState(AltosRecord cur) {
 820                 init(cur, null);
 821         }
 822
 823         public AltosState (AltosRecord cur, AltosState prev) {
 824                 init(cur, prev);
 825         }
 826
 827
 828         public AltosState () {
 829                 init();
 830         }
 831 }