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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     report_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
  52         public double   ground_altitude;
  53         public double   ground_pressure;
  54         public double   altitude;
  55         public double   height;
  56         public double   pressure;
  57         public double   acceleration;
  58         public double   battery_voltage;
  59         public double   pyro_voltage;
  60         public double   temperature;
  61         public double   apogee_voltage;
  62         public double   main_voltage;
  63         public double   speed;
  64
  65         public double   prev_height;
  66         public double   prev_speed;
  67         public double   prev_acceleration;
  68
  69         public double   max_height;
  70         public double   max_acceleration;
  71         public double   max_speed;
  72
  73         public double   kalman_height, kalman_speed, kalman_acceleration;
  74
  75         public AltosGPS gps;
  76         public AltosGPS temp_gps;
  77         public boolean  gps_pending;
  78         public int gps_sequence;
  79
  80         public AltosIMU imu;
  81         public AltosMag mag;
  82
  83         public static final int MIN_PAD_SAMPLES = 10;
  84
  85         public int      npad;
  86         public int      gps_waiting;
  87         public boolean  gps_ready;
  88
  89         public int      ngps;
  90
  91         public AltosGreatCircle from_pad;
  92         public double   elevation;      /* from pad */
  93         public double   range;          /* total distance */
  94
  95         public double   gps_height;
  96
  97         public double pad_lat, pad_lon, pad_alt;
  98
  99         public int      speak_tick;
 100         public double   speak_altitude;
 101
 102         public String   callsign;
 103         public double   accel_plus_g;
 104         public double   accel_minus_g;
 105         public double   accel;
 106         public double   ground_accel;
 107
 108         public int      log_format;
 109
 110         public AltosMs5607      baro;
 111
 112         public AltosRecordCompanion     companion;
 113
 114         public double speed() {
 115                 return speed;
 116         }
 117
 118         public double max_speed() {
 119                 return max_speed;
 120         }
 121
 122         public void set_npad(int npad) {
 123                 this.npad = npad;
 124                 gps_waiting = MIN_PAD_SAMPLES - npad;
 125                 if (this.gps_waiting < 0)
 126                         gps_waiting = 0;
 127                 gps_ready = gps_waiting == 0;
 128         }
 129
 130         public void init() {
 131                 record = null;
 132
 133                 set = 0;
 134
 135                 report_time = System.currentTimeMillis();
 136                 time = AltosRecord.MISSING;
 137                 time_change = AltosRecord.MISSING;
 138                 prev_time = AltosRecord.MISSING;
 139                 tick = AltosRecord.MISSING;
 140                 boost_tick = AltosRecord.MISSING;
 141                 state = AltosLib.ao_flight_invalid;
 142                 flight = AltosRecord.MISSING;
 143                 landed = false;
 144                 boost = false;
 145                 rssi = AltosRecord.MISSING;
 146                 status = 0;
 147
 148                 ground_altitude = AltosRecord.MISSING;
 149                 ground_pressure = AltosRecord.MISSING;
 150                 altitude = AltosRecord.MISSING;
 151                 height = AltosRecord.MISSING;
 152                 pressure = AltosRecord.MISSING;
 153                 acceleration = AltosRecord.MISSING;
 154                 temperature = AltosRecord.MISSING;
 155
 156                 prev_height = AltosRecord.MISSING;
 157                 prev_speed = AltosRecord.MISSING;
 158                 prev_acceleration = AltosRecord.MISSING;
 159
 160                 battery_voltage = AltosRecord.MISSING;
 161                 pyro_voltage = AltosRecord.MISSING;
 162                 apogee_voltage = AltosRecord.MISSING;
 163                 main_voltage = AltosRecord.MISSING;
 164
 165                 speed = AltosRecord.MISSING;
 166
 167                 kalman_height = AltosRecord.MISSING;
 168                 kalman_speed = AltosRecord.MISSING;
 169                 kalman_acceleration = AltosRecord.MISSING;
 170
 171                 max_speed = 0;
 172                 max_height = 0;
 173                 max_acceleration = 0;
 174
 175                 gps = null;
 176                 temp_gps = null;
 177                 gps_sequence = 0;
 178                 gps_pending = false;
 179
 180                 imu = null;
 181                 mag = null;
 182
 183                 set_npad(0);
 184                 ngps = 0;
 185
 186                 from_pad = null;
 187                 elevation = AltosRecord.MISSING;
 188                 range = AltosRecord.MISSING;
 189                 gps_height = AltosRecord.MISSING;
 190
 191                 pad_lat = AltosRecord.MISSING;
 192                 pad_lon = AltosRecord.MISSING;
 193                 pad_alt = AltosRecord.MISSING;
 194
 195                 speak_tick = AltosRecord.MISSING;
 196                 speak_altitude = AltosRecord.MISSING;
 197
 198                 callsign = null;
 199
 200                 accel_plus_g = AltosRecord.MISSING;
 201                 accel_minus_g = AltosRecord.MISSING;
 202                 accel = AltosRecord.MISSING;
 203                 ground_accel = AltosRecord.MISSING;
 204                 log_format = AltosRecord.MISSING;
 205                 serial = AltosRecord.MISSING;
 206
 207                 baro = null;
 208                 companion = null;
 209         }
 210
 211         void copy(AltosState old) {
 212
 213                 record = null;
 214
 215                 if (old == null) {
 216                         init();
 217                         return;
 218                 }
 219
 220                 report_time = old.report_time;
 221                 time = old.time;
 222                 time_change = 0;
 223                 tick = old.tick;
 224                 boost_tick = old.boost_tick;
 225
 226                 state = old.state;
 227                 flight = old.flight;
 228                 landed = old.landed;
 229                 ascent = old.ascent;
 230                 boost = old.boost;
 231                 rssi = old.rssi;
 232                 status = old.status;
 233
 234                 set = 0;
 235
 236                 ground_altitude = old.ground_altitude;
 237                 altitude = old.altitude;
 238                 height = old.height;
 239                 pressure = old.pressure;
 240                 acceleration = old.acceleration;
 241                 battery_voltage = old.battery_voltage;
 242                 pyro_voltage = old.pyro_voltage;
 243                 temperature = old.temperature;
 244                 apogee_voltage = old.apogee_voltage;
 245                 main_voltage = old.main_voltage;
 246                 speed = old.speed;
 247
 248                 prev_height = old.height;
 249                 prev_speed = old.speed;
 250                 prev_acceleration = old.acceleration;
 251                 prev_time = old.time;
 252
 253                 max_height = old.max_height;
 254                 max_acceleration = old.max_acceleration;
 255                 max_speed = old.max_speed;
 256
 257                 kalman_height = old.kalman_height;
 258                 kalman_speed = old.kalman_speed;
 259                 kalman_acceleration = old.kalman_acceleration;
 260
 261                 if (old.gps != null)
 262                         gps = old.gps.clone();
 263                 else
 264                         gps = null;
 265                 if (old.temp_gps != null)
 266                         temp_gps = old.temp_gps.clone();
 267                 else
 268                         temp_gps = null;
 269                 gps_sequence = old.gps_sequence;
 270                 gps_pending = old.gps_pending;
 271
 272                 if (old.imu != null)
 273                         imu = old.imu.clone();
 274                 else
 275                         imu = null;
 276
 277                 if (old.mag != null)
 278                         mag = old.mag.clone();
 279                 else
 280                         mag = null;
 281
 282                 npad = old.npad;
 283                 gps_waiting = old.gps_waiting;
 284                 gps_ready = old.gps_ready;
 285                 ngps = old.ngps;
 286
 287                 if (old.from_pad != null)
 288                         from_pad = old.from_pad.clone();
 289                 else
 290                         from_pad = null;
 291
 292                 elevation = old.elevation;
 293                 range = old.range;
 294
 295                 gps_height = old.gps_height;
 296                 pad_lat = old.pad_lat;
 297                 pad_lon = old.pad_lon;
 298                 pad_alt = old.pad_alt;
 299
 300                 speak_tick = old.speak_tick;
 301                 speak_altitude = old.speak_altitude;
 302
 303                 callsign = old.callsign;
 304
 305                 accel_plus_g = old.accel_plus_g;
 306                 accel_minus_g = old.accel_minus_g;
 307                 accel = old.accel;
 308                 ground_accel = old.ground_accel;
 309
 310                 log_format = old.log_format;
 311                 serial = old.serial;
 312
 313                 baro = old.baro;
 314                 companion = old.companion;
 315         }
 316
 317         double altitude() {
 318                 if (altitude != AltosRecord.MISSING)
 319                         return altitude;
 320                 if (gps != null)
 321                         return gps.alt;
 322                 return AltosRecord.MISSING;
 323         }
 324
 325         void update_vertical_pos() {
 326
 327                 double  alt = altitude();
 328
 329                 if (state == AltosLib.ao_flight_pad && alt != AltosRecord.MISSING && ground_pressure == AltosRecord.MISSING) {
 330                         if (ground_altitude == AltosRecord.MISSING)
 331                                 ground_altitude = alt;
 332                         else
 333                                 ground_altitude = (ground_altitude * 7 + alt) / 8;
 334                 }
 335
 336                 if (kalman_height != AltosRecord.MISSING)
 337                         height = kalman_height;
 338                 else if (altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING)
 339                         height = altitude - ground_altitude;
 340                 else
 341                         height = AltosRecord.MISSING;
 342
 343                 if (height != AltosRecord.MISSING && height > max_height)
 344                         max_height = height;
 345
 346                 update_speed();
 347         }
 348
 349         double motion_filter_value() {
 350                 return 1/ Math.exp(time_change/10.0);
 351         }
 352
 353         void update_speed() {
 354                 if (kalman_speed != AltosRecord.MISSING)
 355                         speed = kalman_speed;
 356                 else if (state != AltosLib.ao_flight_invalid &&
 357                          time_change != AltosRecord.MISSING)
 358                 {
 359                         if (ascent && acceleration != AltosRecord.MISSING)
 360                         {
 361                                 if (prev_speed == AltosRecord.MISSING)
 362                                         speed = acceleration * time_change;
 363                                 else
 364                                         speed = prev_speed + acceleration * time_change;
 365                         }
 366                         else if (height != AltosRecord.MISSING &&
 367                                  prev_height != AltosRecord.MISSING &&
 368                                  time_change != 0)
 369                         {
 370                                 double  new_speed = (height - prev_height) / time_change;
 371
 372                                 if (prev_speed == AltosRecord.MISSING)
 373                                         speed = new_speed;
 374                                 else {
 375                                         double  filter = motion_filter_value();
 376
 377                                         speed = prev_speed * filter + new_speed * (1-filter);
 378                                 }
 379                         }
 380                 }
 381                 if (acceleration == AltosRecord.MISSING) {
 382                         if (prev_speed != AltosRecord.MISSING && time_change != 0) {
 383                                 double  new_acceleration = (speed - prev_speed) / time_change;
 384
 385                                 if (prev_acceleration == AltosRecord.MISSING)
 386                                         acceleration = new_acceleration;
 387                                 else {
 388                                         double filter = motion_filter_value();
 389
 390                                         acceleration = prev_acceleration * filter + new_acceleration * (1-filter);
 391                                 }
 392                         }
 393                 }
 394                 if (boost && speed != AltosRecord.MISSING && speed > max_speed)
 395                         max_speed = speed;
 396         }
 397
 398         void update_accel() {
 399                 if (accel == AltosRecord.MISSING)
 400                         return;
 401                 if (ground_accel == AltosRecord.MISSING)
 402                         return;
 403                 if (accel_plus_g == AltosRecord.MISSING)
 404                         return;
 405                 if (accel_minus_g == AltosRecord.MISSING)
 406                         return;
 407
 408                 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
 409                 double counts_per_mss = counts_per_g / 9.80665;
 410
 411                 acceleration = (ground_accel - accel) / counts_per_mss;
 412
 413                 /* Only look at accelerometer data under boost */
 414                 if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
 415                         max_acceleration = acceleration;
 416                 update_speed();
 417         }
 418
 419         void update_time() {
 420                 if (tick != AltosRecord.MISSING) {
 421                         time = tick / 100.0;
 422                         if (prev_time != AltosRecord.MISSING)
 423                                 time_change = time - prev_time;
 424                 }
 425         }
 426
 427         void update_gps() {
 428                 elevation = 0;
 429                 range = -1;
 430                 gps_height = 0;
 431
 432                 if (gps == null)
 433                         return;
 434
 435                 if (gps.locked && gps.nsat >= 4) {
 436                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 437                         if (state == AltosLib.ao_flight_pad) {
 438                                 set_npad(npad+1);
 439                                 if (pad_lat != AltosRecord.MISSING) {
 440                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
 441                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
 442                                         pad_alt = (pad_alt * 31 + gps.alt) / 32;
 443                                 }
 444                         }
 445                         if (pad_lat == AltosRecord.MISSING) {
 446                                 pad_lat = gps.lat;
 447                                 pad_lon = gps.lon;
 448                                 pad_alt = gps.alt;
 449                         }
 450                 }
 451                 if (gps.lat != 0 && gps.lon != 0 &&
 452                     pad_lat != AltosRecord.MISSING &&
 453                     pad_lon != AltosRecord.MISSING)
 454                 {
 455                         double h = height;
 456
 457                         if (h == AltosRecord.MISSING)
 458                                 h = 0;
 459                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 460                         elevation = from_pad.elevation;
 461                         range = from_pad.range;
 462                         gps_height = gps.alt - pad_alt;
 463                 }
 464         }
 465
 466         public void set_tick(int tick) {
 467                 if (tick != AltosRecord.MISSING) {
 468                         if (this.tick != AltosRecord.MISSING) {
 469                                 while (tick < this.tick)
 470                                         tick += 65536;
 471                                 time_change = (tick - this.tick) / 100.0;
 472                         } else
 473                                 time_change = 0;
 474                         this.tick = tick;
 475                         update_time();
 476                 }
 477         }
 478
 479         public void set_boost_tick(int boost_tick) {
 480                 if (boost_tick != AltosRecord.MISSING)
 481                         this.boost_tick = boost_tick;
 482         }
 483
 484         public String state_name() {
 485                 return AltosLib.state_name(state);
 486         }
 487
 488         public void set_state(int state) {
 489                 if (state != AltosLib.ao_flight_invalid) {
 490                         this.state = state;
 491                         ascent = (AltosLib.ao_flight_boost <= state &&
 492                                   state <= AltosLib.ao_flight_coast);
 493                         boost = (AltosLib.ao_flight_boost == state);
 494                 }
 495
 496         }
 497
 498         public void set_flight(int flight) {
 499
 500                 /* When the flight changes, reset the state */
 501                 if (flight != AltosRecord.MISSING) {
 502                         if (this.flight != AltosRecord.MISSING &&
 503                             this.flight != flight) {
 504                                 init();
 505                         }
 506                         this.flight = flight;
 507                 }
 508         }
 509
 510         public void set_serial(int serial) {
 511                 /* When the serial changes, reset the state */
 512                 if (serial != AltosRecord.MISSING) {
 513                         if (this.serial != AltosRecord.MISSING &&
 514                             this.serial != serial) {
 515                                 init();
 516                         }
 517                         this.serial = serial;
 518                 }
 519         }
 520
 521         public int rssi() {
 522                 if (rssi == AltosRecord.MISSING)
 523                         return 0;
 524                 return rssi;
 525         }
 526
 527         public void set_rssi(int rssi, int status) {
 528                 if (rssi != AltosRecord.MISSING) {
 529                         this.rssi = rssi;
 530                         this.status = status;
 531                 }
 532         }
 533
 534         public void set_altitude(double altitude) {
 535                 if (altitude != AltosRecord.MISSING) {
 536                         this.altitude = altitude;
 537                         update_vertical_pos();
 538                         set |= set_position;
 539                 }
 540         }
 541
 542         public void set_ground_altitude(double ground_altitude) {
 543                 if (ground_altitude != AltosRecord.MISSING) {
 544                         this.ground_altitude = ground_altitude;
 545                         update_vertical_pos();
 546                 }
 547         }
 548
 549         public void set_ground_pressure (double pressure) {
 550                 if (pressure != AltosRecord.MISSING) {
 551                         this.ground_pressure = pressure;
 552                         set_ground_altitude(AltosConvert.pressure_to_altitude(pressure));
 553                         update_vertical_pos();
 554                 }
 555         }
 556
 557         public void set_gps(AltosGPS gps, int sequence) {
 558                 if (gps != null) {
 559                         System.out.printf ("gps date: %d-%d-%d time %d:%d:%d\n",
 560                                            gps.year, gps.month, gps.day,
 561                                            gps.hour, gps.minute, gps.second);
 562                         this.gps = gps.clone();
 563                         gps_sequence = sequence;
 564                         update_gps();
 565                         update_vertical_pos();
 566                         set |= set_gps;
 567                 }
 568         }
 569
 570         public void set_kalman(double height, double speed, double acceleration) {
 571                 if (height != AltosRecord.MISSING) {
 572                         kalman_height = height;
 573                         kalman_speed = speed;
 574                         kalman_acceleration = acceleration;
 575                         update_vertical_pos();
 576                 }
 577         }
 578
 579         public void set_pressure(double pressure) {
 580                 if (pressure != AltosRecord.MISSING) {
 581                         this.pressure = pressure;
 582                         set_altitude(AltosConvert.pressure_to_altitude(pressure));
 583                 }
 584         }
 585
 586         public void make_baro() {
 587                 if (baro == null)
 588                         baro = new AltosMs5607();
 589         }
 590
 591         public void set_ms5607(int pres, int temp) {
 592                 if (baro != null) {
 593                         baro.set(pres, temp);
 594
 595                         set_pressure(baro.pa);
 596                         set_temperature(baro.cc / 100.0);
 597                 }
 598         }
 599
 600         public void make_companion (int nchannels) {
 601                 if (companion == null)
 602                         companion = new AltosRecordCompanion(nchannels);
 603         }
 604
 605         public void set_companion(AltosRecordCompanion companion) {
 606                 this.companion = companion;
 607         }
 608
 609         public void set_accel_g(double accel_plus_g, double accel_minus_g) {
 610                 if (accel_plus_g != AltosRecord.MISSING) {
 611                         this.accel_plus_g = accel_plus_g;
 612                         this.accel_minus_g = accel_minus_g;
 613                         update_accel();
 614                 }
 615         }
 616         public void set_ground_accel(double ground_accel) {
 617                 if (ground_accel != AltosRecord.MISSING) {
 618                         this.ground_accel = ground_accel;
 619                         update_accel();
 620                 }
 621         }
 622
 623         public void set_accel(double accel) {
 624                 if (accel != AltosRecord.MISSING) {
 625                         this.accel = accel;
 626                 }
 627                 update_accel();
 628         }
 629
 630         public void set_temperature(double temperature) {
 631                 if (temperature != AltosRecord.MISSING) {
 632                         this.temperature = temperature;
 633                         set |= set_data;
 634                 }
 635         }
 636
 637         public void set_battery_voltage(double battery_voltage) {
 638                 if (battery_voltage != AltosRecord.MISSING) {
 639                         this.battery_voltage = battery_voltage;
 640                         set |= set_data;
 641                 }
 642         }
 643
 644         public void set_pyro_voltage(double pyro_voltage) {
 645                 if (pyro_voltage != AltosRecord.MISSING) {
 646                         this.pyro_voltage = pyro_voltage;
 647                         set |= set_data;
 648                 }
 649         }
 650
 651         public void set_apogee_voltage(double apogee_voltage) {
 652                 if (apogee_voltage != AltosRecord.MISSING) {
 653                         this.apogee_voltage = apogee_voltage;
 654                         set |= set_data;
 655                 }
 656         }
 657
 658         public void set_main_voltage(double main_voltage) {
 659                 if (main_voltage != AltosRecord.MISSING) {
 660                         this.main_voltage = main_voltage;
 661                         set |= set_data;
 662                 }
 663         }
 664
 665
 666         public double time_since_boost() {
 667                 if (tick == AltosRecord.MISSING)
 668                         return 0.0;
 669
 670                 if (boost_tick != AltosRecord.MISSING) {
 671                         return (tick - boost_tick) / 100.0;
 672                 }
 673                 return tick / 100.0;
 674         }
 675
 676         public boolean valid() {
 677                 return tick != AltosRecord.MISSING && serial != AltosRecord.MISSING;
 678         }
 679
 680         public AltosGPS make_temp_gps() {
 681                 if (temp_gps == null) {
 682                         temp_gps = new AltosGPS(gps);
 683                         temp_gps.cc_gps_sat = null;
 684                 }
 685                 gps_pending = true;
 686                 return temp_gps;
 687         }
 688
 689         public void set_temp_gps() {
 690                 set_gps(temp_gps, gps_sequence + 1);
 691                 gps_pending = false;
 692                 temp_gps = null;
 693         }
 694
 695         public void init (AltosRecord cur, AltosState prev_state) {
 696
 697                 System.out.printf ("init\n");
 698                 if (cur == null)
 699                         cur = new AltosRecord();
 700
 701                 record = cur;
 702
 703                 /* Discard previous state if it was for a different board */
 704                 if (prev_state != null && prev_state.serial != cur.serial)
 705                         prev_state = null;
 706
 707                 copy(prev_state);
 708
 709                 set_ground_altitude(cur.ground_altitude());
 710                 set_altitude(cur.altitude());
 711
 712                 set_kalman(cur.kalman_height, cur.kalman_speed, cur.kalman_acceleration);
 713
 714                 report_time = System.currentTimeMillis();
 715
 716                 set_temperature(cur.temperature());
 717                 set_apogee_voltage(cur.drogue_voltage());
 718                 set_main_voltage(cur.main_voltage());
 719                 set_battery_voltage(cur.battery_voltage());
 720
 721                 set_pressure(cur.pressure());
 722
 723                 set_tick(cur.tick);
 724                 set_state(cur.state);
 725
 726                 set_accel_g (cur.accel_minus_g, cur.accel_plus_g);
 727                 set_ground_accel(cur.ground_accel);
 728                 set_accel (cur.accel);
 729
 730                 if (cur.gps_sequence != gps_sequence)
 731                         set_gps(cur.gps, cur.gps_sequence);
 732
 733         }
 734
 735         public AltosState clone() {
 736                 AltosState s = new AltosState();
 737                 s.copy(this);
 738                 return s;
 739         }
 740
 741         public AltosState(AltosRecord cur) {
 742                 init(cur, null);
 743         }
 744
 745         public AltosState (AltosRecord cur, AltosState prev) {
 746                 init(cur, prev);
 747         }
 748
 749         public AltosState () {
 750                 init();
 751         }
 752 }