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   1 /*
   2  * Copyright © 2010 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 /*
  19  * Track flight state from telemetry or eeprom data stream
  20  */
  21
  22 package org.altusmetrum.altoslib_2;
  23
  24 public class AltosState implements Cloneable {
  25
  26         public static final int set_position = 1;
  27         public static final int set_gps = 2;
  28         public static final int set_data = 4;
  29
  30         public int set;
  31
  32         static final double ascent_filter_len = 0.1;
  33         static final double descent_filter_len = 2.0;
  34
  35         /* derived data */
  36
  37         public long     received_time;
  38
  39         public double   time;
  40         public double   prev_time;
  41         public double   time_change;
  42         public int      tick;
  43         private int     prev_tick;
  44         public int      boost_tick;
  45
  46         class AltosValue {
  47                 private double  value;
  48                 private double  prev_value;
  49                 private double  max_value;
  50                 private double  set_time;
  51                 private double  prev_set_time;
  52                 private double  max_rate = 1000.0;
  53
  54                 void set(double new_value, double time) {
  55                         if (new_value != AltosLib.MISSING) {
  56                                 value = new_value;
  57                                 if (max_value == AltosLib.MISSING || value > max_value) {
  58                                         max_value = value;
  59                                 }
  60                                 set_time = time;
  61                         }
  62                 }
  63
  64                 void set_filtered(double new_value, double time) {
  65                         if (prev_value != AltosLib.MISSING)
  66                                 new_value = (prev_value * 15.0 + new_value) / 16.0;
  67                         set(new_value, time);
  68                 }
  69
  70                 double value() {
  71                         return value;
  72                 }
  73
  74                 double max() {
  75                         return max_value;
  76                 }
  77
  78                 double prev() {
  79                         return prev_value;
  80                 }
  81
  82                 double change() {
  83                         if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
  84                                 return value - prev_value;
  85                         return AltosLib.MISSING;
  86                 }
  87
  88                 double rate() {
  89                         double c = change();
  90                         double t = set_time - prev_set_time;
  91
  92                         if (c != AltosLib.MISSING && t != 0)
  93                                 return c / t;
  94                         return AltosLib.MISSING;
  95                 }
  96
  97                 double integrate() {
  98                         if (value == AltosLib.MISSING)
  99                                 return AltosLib.MISSING;
 100                         if (prev_value == AltosLib.MISSING)
 101                                 return AltosLib.MISSING;
 102
 103                         return (value + prev_value) / 2 * (set_time - prev_set_time);
 104                 }
 105
 106                 double time() {
 107                         return set_time;
 108                 }
 109
 110                 void set_derivative(AltosValue in) {
 111                         double  n = in.rate();
 112
 113                         if (n == AltosLib.MISSING)
 114                                 return;
 115
 116                         double  p = prev_value;
 117                         double  pt = prev_set_time;
 118
 119                         if (p == AltosLib.MISSING) {
 120                                 p = 0;
 121                                 pt = in.time() - 0.01;
 122                         }
 123
 124                         /* Clip changes to reduce noise */
 125                         double  ddt = in.time() - pt;
 126                         double  ddv = (n - p) / ddt;
 127
 128                         /* 100gs */
 129                         if (Math.abs(ddv) > 1000) {
 130                                 if (n > p)
 131                                         n = p + ddt * 1000;
 132                                 else
 133                                         n = p - ddt * 1000;
 134                         }
 135
 136                         double filter_len;
 137
 138                         if (ascent)
 139                                 filter_len = ascent_filter_len;
 140                         else
 141                                 filter_len = descent_filter_len;
 142
 143                         double f = 1/Math.exp(ddt/ filter_len);
 144                         n = p * f + n * (1-f);
 145
 146                         set(n, in.time());
 147                 }
 148
 149                 void set_integral(AltosValue in) {
 150                         double  change = in.integrate();
 151
 152                         if (change != AltosLib.MISSING) {
 153                                 double  prev = prev_value;
 154                                 if (prev == AltosLib.MISSING)
 155                                         prev = 0;
 156                                 set(prev + change, in.time());
 157                         }
 158                 }
 159
 160                 void copy(AltosValue old) {
 161                         value = old.value;
 162                         set_time = old.set_time;
 163                         prev_value = old.value;
 164                         prev_set_time = old.set_time;
 165                         max_value = old.max_value;
 166                 }
 167
 168                 void finish_update() {
 169                         prev_value = value;
 170                         prev_set_time = set_time;
 171                 }
 172
 173                 AltosValue() {
 174                         value = AltosLib.MISSING;
 175                         prev_value = AltosLib.MISSING;
 176                         max_value = AltosLib.MISSING;
 177                 }
 178         }
 179
 180         class AltosCValue {
 181                 AltosValue      measured;
 182                 AltosValue      computed;
 183
 184                 double value() {
 185                         double v = measured.value();
 186                         if (v != AltosLib.MISSING)
 187                                 return v;
 188                         return computed.value();
 189                 }
 190
 191                 boolean is_measured() {
 192                         return measured.value() != AltosLib.MISSING;
 193                 }
 194
 195                 double max() {
 196                         double m = measured.max();
 197
 198                         if (m != AltosLib.MISSING)
 199                                 return m;
 200                         return computed.max();
 201                 }
 202
 203                 double prev_value() {
 204                         if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
 205                                 return measured.prev_value;
 206                         return computed.prev_value;
 207                 }
 208
 209                 AltosValue altos_value() {
 210                         if (measured.value() != AltosLib.MISSING)
 211                                 return measured;
 212                         return computed;
 213                 }
 214
 215                 double change() {
 216                         double c = measured.change();
 217                         if (c == AltosLib.MISSING)
 218                                 c = computed.change();
 219                         return c;
 220                 }
 221
 222                 double rate() {
 223                         double r = measured.rate();
 224                         if (r == AltosLib.MISSING)
 225                                 r = computed.rate();
 226                         return r;
 227                 }
 228
 229                 void set_measured(double new_value, double time) {
 230                         measured.set(new_value, time);
 231                 }
 232
 233                 void set_computed(double new_value, double time) {
 234                         computed.set(new_value, time);
 235                 }
 236
 237                 void set_derivative(AltosValue in) {
 238                         computed.set_derivative(in);
 239                 }
 240
 241                 void set_derivative(AltosCValue in) {
 242                         set_derivative(in.altos_value());
 243                 }
 244
 245                 void set_integral(AltosValue in) {
 246                         computed.set_integral(in);
 247                 }
 248
 249                 void set_integral(AltosCValue in) {
 250                         set_integral(in.altos_value());
 251                 }
 252
 253                 void copy(AltosCValue old) {
 254                         measured.copy(old.measured);
 255                         computed.copy(old.computed);
 256                 }
 257
 258                 void finish_update() {
 259                         measured.finish_update();
 260                         computed.finish_update();
 261                 }
 262
 263                 AltosCValue() {
 264                         measured = new AltosValue();
 265                         computed = new AltosValue();
 266                 }
 267         }
 268
 269         public int      state;
 270         public int      flight;
 271         public int      serial;
 272         public boolean  landed;
 273         public boolean  ascent; /* going up? */
 274         public boolean  boost;  /* under power */
 275         public int      rssi;
 276         public int      status;
 277         public int      device_type;
 278         public int      config_major;
 279         public int      config_minor;
 280         public int      apogee_delay;
 281         public int      main_deploy;
 282         public int      flight_log_max;
 283
 284         private double pressure_to_altitude(double p) {
 285                 if (p == AltosLib.MISSING)
 286                         return AltosLib.MISSING;
 287                 return AltosConvert.pressure_to_altitude(p);
 288         }
 289
 290         private AltosCValue ground_altitude;
 291
 292         public double ground_altitude() {
 293                 return ground_altitude.value();
 294         }
 295
 296         public void set_ground_altitude(double a) {
 297                 ground_altitude.set_measured(a, time);
 298         }
 299
 300         class AltosGroundPressure extends AltosCValue {
 301                 void set_filtered(double p, double time) {
 302                         computed.set_filtered(p, time);
 303                         ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
 304                 }
 305
 306                 void set_measured(double p, double time) {
 307                         super.set_measured(p, time);
 308                         ground_altitude.set_computed(pressure_to_altitude(p), time);
 309                 }
 310         }
 311
 312         private AltosGroundPressure ground_pressure;
 313
 314         public double ground_pressure() {
 315                 return ground_pressure.value();
 316         }
 317
 318         public void set_ground_pressure (double pressure) {
 319                 ground_pressure.set_measured(pressure, time);
 320         }
 321
 322         class AltosAltitude extends AltosCValue {
 323
 324                 private void set_speed(AltosValue v) {
 325                         if (!acceleration.is_measured() || !ascent)
 326                                 speed.set_derivative(this);
 327                 }
 328
 329                 void set_computed(double a, double time) {
 330                         super.set_computed(a,time);
 331                         set_speed(computed);
 332                         set |= set_position;
 333                 }
 334
 335                 void set_measured(double a, double time) {
 336                         super.set_measured(a,time);
 337                         set_speed(measured);
 338                         set |= set_position;
 339                 }
 340         }
 341
 342         private AltosAltitude   altitude;
 343
 344         public double altitude() {
 345                 double a = altitude.value();
 346                 if (a != AltosLib.MISSING)
 347                         return a;
 348                 if (gps != null)
 349                         return gps.alt;
 350                 return AltosLib.MISSING;
 351         }
 352
 353         public double max_altitude() {
 354                 double a = altitude.max();
 355                 if (a != AltosLib.MISSING)
 356                         return a;
 357                 return AltosLib.MISSING;
 358         }
 359
 360         public void set_altitude(double new_altitude) {
 361                 altitude.set_measured(new_altitude, time);
 362         }
 363
 364         class AltosPressure extends AltosValue {
 365                 void set(double p, double time) {
 366                         super.set(p, time);
 367                         if (state == AltosLib.ao_flight_pad)
 368                                 ground_pressure.set_filtered(p, time);
 369                         double a = pressure_to_altitude(p);
 370                         altitude.set_computed(a, time);
 371                 }
 372         }
 373
 374         private AltosPressure   pressure;
 375
 376         public double pressure() {
 377                 return pressure.value();
 378         }
 379
 380         public void set_pressure(double p) {
 381                 pressure.set(p, time);
 382         }
 383
 384         public double height() {
 385                 double k = kalman_height.value();
 386                 if (k != AltosLib.MISSING)
 387                         return k;
 388
 389                 double a = altitude();
 390                 double g = ground_altitude();
 391                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 392                         return a - g;
 393                 return AltosLib.MISSING;
 394         }
 395
 396         public double max_height() {
 397                 double  k = kalman_height.max();
 398                 if (k != AltosLib.MISSING)
 399                         return k;
 400
 401                 double a = altitude.max();
 402                 double g = ground_altitude();
 403                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 404                         return a - g;
 405                 return AltosLib.MISSING;
 406         }
 407
 408         class AltosSpeed extends AltosCValue {
 409
 410                 void set_accel() {
 411                         acceleration.set_derivative(this);
 412                 }
 413
 414                 void set_derivative(AltosCValue in) {
 415                         super.set_derivative(in);
 416                         set_accel();
 417                 }
 418
 419                 void set_computed(double new_value, double time) {
 420                         super.set_computed(new_value, time);
 421                         set_accel();
 422                 }
 423
 424                 void set_measured(double new_value, double time) {
 425                         super.set_measured(new_value, time);
 426                         set_accel();
 427                 }
 428         }
 429
 430         private AltosSpeed speed;
 431
 432         public double speed() {
 433                 double v = kalman_speed.value();
 434                 if (v != AltosLib.MISSING)
 435                         return v;
 436                 return speed.value();
 437         }
 438
 439         public double max_speed() {
 440                 double v = kalman_speed.max();
 441                 if (v != AltosLib.MISSING)
 442                         return v;
 443                 return speed.max();
 444         }
 445
 446         class AltosAccel extends AltosCValue {
 447                 void set_measured(double a, double time) {
 448                         super.set_measured(a, time);
 449                         if (ascent)
 450                                 speed.set_integral(this.measured);
 451                 }
 452         }
 453
 454         AltosAccel acceleration;
 455
 456         public double acceleration() {
 457                 return acceleration.value();
 458         }
 459
 460         public double max_acceleration() {
 461                 return acceleration.max();
 462         }
 463
 464         public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 465
 466         public void set_kalman(double height, double speed, double acceleration) {
 467                 kalman_height.set(height, time);
 468                 kalman_speed.set(speed, time);
 469                 kalman_acceleration.set(acceleration, time);
 470         }
 471
 472         public double   battery_voltage;
 473         public double   pyro_voltage;
 474         public double   temperature;
 475         public double   apogee_voltage;
 476         public double   main_voltage;
 477
 478         public double   ignitor_voltage[];
 479
 480         public AltosGPS gps;
 481         public AltosGPS temp_gps;
 482         public int temp_gps_sat_tick;
 483         public boolean  gps_pending;
 484         public int gps_sequence;
 485
 486         public AltosIMU imu;
 487         public AltosMag mag;
 488
 489         public static final int MIN_PAD_SAMPLES = 10;
 490
 491         public int      npad;
 492         public int      gps_waiting;
 493         public boolean  gps_ready;
 494
 495         public int      ngps;
 496
 497         public AltosGreatCircle from_pad;
 498         public double   elevation;      /* from pad */
 499         public double   range;          /* total distance */
 500
 501         public double   gps_height;
 502
 503         public double pad_lat, pad_lon, pad_alt;
 504
 505         public int      speak_tick;
 506         public double   speak_altitude;
 507
 508         public String   callsign;
 509         public String   firmware_version;
 510
 511         public double   accel_plus_g;
 512         public double   accel_minus_g;
 513         public double   accel;
 514         public double   ground_accel;
 515         public double   ground_accel_avg;
 516
 517         public int      log_format;
 518
 519         public AltosMs5607      baro;
 520
 521         public AltosCompanion   companion;
 522
 523         public void set_npad(int npad) {
 524                 this.npad = npad;
 525                 gps_waiting = MIN_PAD_SAMPLES - npad;
 526                 if (this.gps_waiting < 0)
 527                         gps_waiting = 0;
 528                 gps_ready = gps_waiting == 0;
 529         }
 530
 531         public void init() {
 532                 set = 0;
 533
 534                 received_time = System.currentTimeMillis();
 535                 time = AltosLib.MISSING;
 536                 time_change = AltosLib.MISSING;
 537                 prev_time = AltosLib.MISSING;
 538                 tick = AltosLib.MISSING;
 539                 prev_tick = AltosLib.MISSING;
 540                 boost_tick = AltosLib.MISSING;
 541                 state = AltosLib.ao_flight_invalid;
 542                 flight = AltosLib.MISSING;
 543                 landed = false;
 544                 boost = false;
 545                 rssi = AltosLib.MISSING;
 546                 status = 0;
 547                 device_type = AltosLib.MISSING;
 548                 config_major = AltosLib.MISSING;
 549                 config_minor = AltosLib.MISSING;
 550                 apogee_delay = AltosLib.MISSING;
 551                 main_deploy = AltosLib.MISSING;
 552                 flight_log_max = AltosLib.MISSING;
 553
 554                 ground_altitude = new AltosCValue();
 555                 ground_pressure = new AltosGroundPressure();
 556                 altitude = new AltosAltitude();
 557                 pressure = new AltosPressure();
 558                 speed = new AltosSpeed();
 559                 acceleration = new AltosAccel();
 560
 561                 temperature = AltosLib.MISSING;
 562                 battery_voltage = AltosLib.MISSING;
 563                 pyro_voltage = AltosLib.MISSING;
 564                 apogee_voltage = AltosLib.MISSING;
 565                 main_voltage = AltosLib.MISSING;
 566                 ignitor_voltage = null;
 567
 568                 kalman_height = new AltosValue();
 569                 kalman_speed = new AltosValue();
 570                 kalman_acceleration = new AltosValue();
 571
 572                 gps = null;
 573                 temp_gps = null;
 574                 temp_gps_sat_tick = 0;
 575                 gps_sequence = 0;
 576                 gps_pending = false;
 577
 578                 imu = null;
 579                 mag = null;
 580
 581                 set_npad(0);
 582                 ngps = 0;
 583
 584                 from_pad = null;
 585                 elevation = AltosLib.MISSING;
 586                 range = AltosLib.MISSING;
 587                 gps_height = AltosLib.MISSING;
 588
 589                 pad_lat = AltosLib.MISSING;
 590                 pad_lon = AltosLib.MISSING;
 591                 pad_alt = AltosLib.MISSING;
 592
 593                 speak_tick = AltosLib.MISSING;
 594                 speak_altitude = AltosLib.MISSING;
 595
 596                 callsign = null;
 597
 598                 accel_plus_g = AltosLib.MISSING;
 599                 accel_minus_g = AltosLib.MISSING;
 600                 accel = AltosLib.MISSING;
 601
 602                 ground_accel = AltosLib.MISSING;
 603                 ground_accel_avg = AltosLib.MISSING;
 604
 605                 log_format = AltosLib.MISSING;
 606                 serial = AltosLib.MISSING;
 607
 608                 baro = null;
 609                 companion = null;
 610         }
 611
 612         void finish_update() {
 613                 prev_tick = tick;
 614
 615                 ground_altitude.finish_update();
 616                 altitude.finish_update();
 617                 pressure.finish_update();
 618                 speed.finish_update();
 619                 acceleration.finish_update();
 620
 621                 kalman_height.finish_update();
 622                 kalman_speed.finish_update();
 623                 kalman_acceleration.finish_update();
 624         }
 625
 626         void copy(AltosState old) {
 627
 628                 if (old == null) {
 629                         init();
 630                         return;
 631                 }
 632
 633                 received_time = old.received_time;
 634                 time = old.time;
 635                 time_change = 0;
 636                 tick = old.tick;
 637                 prev_tick = old.tick;
 638                 boost_tick = old.boost_tick;
 639
 640                 state = old.state;
 641                 flight = old.flight;
 642                 landed = old.landed;
 643                 ascent = old.ascent;
 644                 boost = old.boost;
 645                 rssi = old.rssi;
 646                 status = old.status;
 647                 device_type = old.device_type;
 648                 config_major = old.config_major;
 649                 config_minor = old.config_minor;
 650                 apogee_delay = old.apogee_delay;
 651                 main_deploy = old.main_deploy;
 652                 flight_log_max = old.flight_log_max;
 653
 654                 set = 0;
 655
 656                 ground_altitude.copy(old.ground_altitude);
 657                 altitude.copy(old.altitude);
 658                 pressure.copy(old.pressure);
 659                 speed.copy(old.speed);
 660                 acceleration.copy(old.acceleration);
 661
 662                 battery_voltage = old.battery_voltage;
 663                 pyro_voltage = old.pyro_voltage;
 664                 temperature = old.temperature;
 665                 apogee_voltage = old.apogee_voltage;
 666                 main_voltage = old.main_voltage;
 667                 ignitor_voltage = old.ignitor_voltage;
 668
 669                 kalman_height.copy(old.kalman_height);
 670                 kalman_speed.copy(old.kalman_speed);
 671                 kalman_acceleration.copy(old.kalman_acceleration);
 672
 673                 if (old.gps != null)
 674                         gps = old.gps.clone();
 675                 else
 676                         gps = null;
 677                 if (old.temp_gps != null)
 678                         temp_gps = old.temp_gps.clone();
 679                 else
 680                         temp_gps = null;
 681                 temp_gps_sat_tick = old.temp_gps_sat_tick;
 682                 gps_sequence = old.gps_sequence;
 683                 gps_pending = old.gps_pending;
 684
 685                 if (old.imu != null)
 686                         imu = old.imu.clone();
 687                 else
 688                         imu = null;
 689
 690                 if (old.mag != null)
 691                         mag = old.mag.clone();
 692                 else
 693                         mag = null;
 694
 695                 npad = old.npad;
 696                 gps_waiting = old.gps_waiting;
 697                 gps_ready = old.gps_ready;
 698                 ngps = old.ngps;
 699
 700                 if (old.from_pad != null)
 701                         from_pad = old.from_pad.clone();
 702                 else
 703                         from_pad = null;
 704
 705                 elevation = old.elevation;
 706                 range = old.range;
 707
 708                 gps_height = old.gps_height;
 709                 pad_lat = old.pad_lat;
 710                 pad_lon = old.pad_lon;
 711                 pad_alt = old.pad_alt;
 712
 713                 speak_tick = old.speak_tick;
 714                 speak_altitude = old.speak_altitude;
 715
 716                 callsign = old.callsign;
 717
 718                 accel_plus_g = old.accel_plus_g;
 719                 accel_minus_g = old.accel_minus_g;
 720                 accel = old.accel;
 721                 ground_accel = old.ground_accel;
 722                 ground_accel_avg = old.ground_accel_avg;
 723
 724                 log_format = old.log_format;
 725                 serial = old.serial;
 726
 727                 baro = old.baro;
 728                 companion = old.companion;
 729         }
 730
 731         void update_time() {
 732         }
 733
 734         void update_gps() {
 735                 elevation = 0;
 736                 range = -1;
 737                 gps_height = 0;
 738
 739                 if (gps == null)
 740                         return;
 741
 742                 if (gps.locked && gps.nsat >= 4) {
 743                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 744                         if (state == AltosLib.ao_flight_pad) {
 745                                 set_npad(npad+1);
 746                                 if (pad_lat != AltosLib.MISSING) {
 747                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
 748                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
 749                                         pad_alt = (pad_alt * 31 + gps.alt) / 32;
 750                                 }
 751                         }
 752                         if (pad_lat == AltosLib.MISSING) {
 753                                 pad_lat = gps.lat;
 754                                 pad_lon = gps.lon;
 755                                 pad_alt = gps.alt;
 756                         }
 757                 }
 758                 if (gps.lat != 0 && gps.lon != 0 &&
 759                     pad_lat != AltosLib.MISSING &&
 760                     pad_lon != AltosLib.MISSING)
 761                 {
 762                         double h = height();
 763
 764                         if (h == AltosLib.MISSING)
 765                                 h = 0;
 766                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 767                         elevation = from_pad.elevation;
 768                         range = from_pad.range;
 769                         gps_height = gps.alt - pad_alt;
 770                 }
 771         }
 772
 773         public void set_tick(int new_tick) {
 774                 if (new_tick != AltosLib.MISSING) {
 775                         if (prev_tick != AltosLib.MISSING) {
 776                                 while (new_tick < prev_tick - 1000) {
 777                                         new_tick += 65536;
 778                                 }
 779                         }
 780                         tick = new_tick;
 781                         time = tick / 100.0;
 782                 }
 783         }
 784
 785         public void set_boost_tick(int boost_tick) {
 786                 if (boost_tick != AltosLib.MISSING)
 787                         this.boost_tick = boost_tick;
 788         }
 789
 790         public String state_name() {
 791                 return AltosLib.state_name(state);
 792         }
 793
 794         public void set_state(int state) {
 795                 if (state != AltosLib.ao_flight_invalid) {
 796                         this.state = state;
 797                         ascent = (AltosLib.ao_flight_boost <= state &&
 798                                   state <= AltosLib.ao_flight_coast);
 799                         boost = (AltosLib.ao_flight_boost == state);
 800                 }
 801
 802         }
 803
 804         public void set_device_type(int device_type) {
 805                 this.device_type = device_type;
 806         }
 807
 808         public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
 809                 config_major = major;
 810                 config_minor = minor;
 811                 this.apogee_delay = apogee_delay;
 812                 this.main_deploy = main_deploy;
 813                 this.flight_log_max = flight_log_max;
 814         }
 815
 816         public void set_callsign(String callsign) {
 817                 this.callsign = callsign;
 818         }
 819
 820         public void set_firmware_version(String version) {
 821                 firmware_version = version;
 822         }
 823
 824         public void set_flight(int flight) {
 825
 826                 /* When the flight changes, reset the state */
 827                 if (flight != AltosLib.MISSING && flight != 0) {
 828                         if (this.flight != AltosLib.MISSING &&
 829                             this.flight != flight) {
 830                                 init();
 831                         }
 832                         this.flight = flight;
 833                 }
 834         }
 835
 836         public void set_serial(int serial) {
 837                 /* When the serial changes, reset the state */
 838                 if (serial != AltosLib.MISSING) {
 839                         if (this.serial != AltosLib.MISSING &&
 840                             this.serial != serial) {
 841                                 init();
 842                         }
 843                         this.serial = serial;
 844                 }
 845         }
 846
 847         public int rssi() {
 848                 if (rssi == AltosLib.MISSING)
 849                         return 0;
 850                 return rssi;
 851         }
 852
 853         public void set_rssi(int rssi, int status) {
 854                 if (rssi != AltosLib.MISSING) {
 855                         this.rssi = rssi;
 856                         this.status = status;
 857                 }
 858         }
 859
 860         public void set_received_time(long ms) {
 861                 received_time = ms;
 862         }
 863
 864         public void set_gps(AltosGPS gps, int sequence) {
 865                 if (gps != null) {
 866                         this.gps = gps.clone();
 867                         gps_sequence = sequence;
 868                         update_gps();
 869                         set |= set_gps;
 870                 }
 871         }
 872
 873         public void set_imu(AltosIMU imu) {
 874                 if (imu != null)
 875                         imu = imu.clone();
 876                 this.imu = imu;
 877         }
 878
 879         public void set_mag(AltosMag mag) {
 880                 this.mag = mag.clone();
 881         }
 882
 883         public AltosMs5607 make_baro() {
 884                 if (baro == null)
 885                         baro = new AltosMs5607();
 886                 return baro;
 887         }
 888
 889         public void set_ms5607(AltosMs5607 ms5607) {
 890                 baro = ms5607;
 891
 892                 if (baro != null) {
 893                         set_pressure(baro.pa);
 894                         set_temperature(baro.cc / 100.0);
 895                 }
 896         }
 897
 898         public void set_ms5607(int pres, int temp) {
 899                 if (baro != null) {
 900                         baro.set(pres, temp);
 901
 902                         set_pressure(baro.pa);
 903                         set_temperature(baro.cc / 100.0);
 904                 }
 905         }
 906
 907         public void make_companion (int nchannels) {
 908                 if (companion == null)
 909                         companion = new AltosCompanion(nchannels);
 910         }
 911
 912         public void set_companion(AltosCompanion companion) {
 913                 this.companion = companion;
 914         }
 915
 916         void update_accel() {
 917                 double  ground = ground_accel;
 918
 919                 if (ground == AltosLib.MISSING)
 920                         ground = ground_accel_avg;
 921                 if (accel == AltosLib.MISSING)
 922                         return;
 923                 if (ground == AltosLib.MISSING)
 924                         return;
 925                 if (accel_plus_g == AltosLib.MISSING)
 926                         return;
 927                 if (accel_minus_g == AltosLib.MISSING)
 928                         return;
 929
 930                 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
 931                 double counts_per_mss = counts_per_g / 9.80665;
 932                 acceleration.set_measured((ground - accel) / counts_per_mss, time);
 933         }
 934
 935         public void set_accel_g(double accel_plus_g, double accel_minus_g) {
 936                 if (accel_plus_g != AltosLib.MISSING) {
 937                         this.accel_plus_g = accel_plus_g;
 938                         this.accel_minus_g = accel_minus_g;
 939                         update_accel();
 940                 }
 941         }
 942
 943         public void set_ground_accel(double ground_accel) {
 944                 if (ground_accel != AltosLib.MISSING) {
 945                         this.ground_accel = ground_accel;
 946                         update_accel();
 947                 }
 948         }
 949
 950         public void set_accel(double accel) {
 951                 if (accel != AltosLib.MISSING) {
 952                         this.accel = accel;
 953                         if (state == AltosLib.ao_flight_pad) {
 954                                 if (ground_accel_avg == AltosLib.MISSING)
 955                                         ground_accel_avg = accel;
 956                                 else
 957                                         ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
 958                         }
 959                 }
 960                 update_accel();
 961         }
 962
 963         public void set_temperature(double temperature) {
 964                 if (temperature != AltosLib.MISSING) {
 965                         this.temperature = temperature;
 966                         set |= set_data;
 967                 }
 968         }
 969
 970         public void set_battery_voltage(double battery_voltage) {
 971                 if (battery_voltage != AltosLib.MISSING) {
 972                         this.battery_voltage = battery_voltage;
 973                         set |= set_data;
 974                 }
 975         }
 976
 977         public void set_pyro_voltage(double pyro_voltage) {
 978                 if (pyro_voltage != AltosLib.MISSING) {
 979                         this.pyro_voltage = pyro_voltage;
 980                         set |= set_data;
 981                 }
 982         }
 983
 984         public void set_apogee_voltage(double apogee_voltage) {
 985                 if (apogee_voltage != AltosLib.MISSING) {
 986                         this.apogee_voltage = apogee_voltage;
 987                         set |= set_data;
 988                 }
 989         }
 990
 991         public void set_main_voltage(double main_voltage) {
 992                 if (main_voltage != AltosLib.MISSING) {
 993                         this.main_voltage = main_voltage;
 994                         set |= set_data;
 995                 }
 996         }
 997
 998         public void set_ignitor_voltage(double[] voltage) {
 999                 this.ignitor_voltage = voltage;
1000         }
1001
1002         public double time_since_boost() {
1003                 if (tick == AltosLib.MISSING)
1004                         return 0.0;
1005
1006                 if (boost_tick != AltosLib.MISSING) {
1007                         return (tick - boost_tick) / 100.0;
1008                 }
1009                 return tick / 100.0;
1010         }
1011
1012         public boolean valid() {
1013                 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1014         }
1015
1016         public AltosGPS make_temp_gps(boolean sats) {
1017                 if (temp_gps == null) {
1018                         temp_gps = new AltosGPS(gps);
1019                 }
1020                 gps_pending = true;
1021                 if (sats) {
1022                         if (tick != temp_gps_sat_tick)
1023                                 temp_gps.cc_gps_sat = null;
1024                         temp_gps_sat_tick = tick;
1025                 }
1026                 return temp_gps;
1027         }
1028
1029         public void set_temp_gps() {
1030                 set_gps(temp_gps, gps_sequence + 1);
1031                 gps_pending = false;
1032                 temp_gps = null;
1033         }
1034
1035         public AltosState clone() {
1036                 AltosState s = new AltosState();
1037                 s.copy(this);
1038                 return s;
1039         }
1040
1041         public AltosState () {
1042                 init();
1043         }
1044 }