2 * Copyright © 2010 Keith Packard <keithp@keithp.com>
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.
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.
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.
19 * Track flight state from telemetry or eeprom data stream
22 package org.altusmetrum.altoslib_1;
24 public class AltosState {
25 public AltosRecord data;
29 public long report_time;
32 public double time_change;
36 public boolean landed;
37 public boolean ascent; /* going up? */
38 public boolean boost; /* under power */
40 public double ground_altitude;
41 public double altitude;
43 public double pressure;
44 public double acceleration;
45 public double battery;
46 public double temperature;
47 public double main_sense;
48 public double drogue_sense;
49 public double accel_speed;
50 public double baro_speed;
52 public double max_height;
53 public double max_acceleration;
54 public double max_accel_speed;
55 public double max_baro_speed;
58 public int gps_sequence;
63 public static final int MIN_PAD_SAMPLES = 10;
67 public int gps_waiting;
68 public boolean gps_ready;
70 public AltosGreatCircle from_pad;
71 public double elevation; /* from pad */
72 public double range; /* total distance */
74 public double gps_height;
76 public double pad_lat, pad_lon, pad_alt;
78 public int speak_tick;
79 public double speak_altitude;
81 public double speed() {
88 public double max_speed() {
89 if (max_accel_speed != 0)
90 return max_accel_speed;
91 return max_baro_speed;
94 public void init (AltosRecord cur, AltosState prev_state) {
97 /* Discard previous state if it was for a different board */
98 if (prev_state != null && prev_state.data.serial != data.serial)
100 ground_altitude = data.ground_altitude();
102 altitude = data.altitude();
103 if (altitude == AltosRecord.MISSING && data.gps != null)
104 altitude = data.gps.alt;
106 height = AltosRecord.MISSING;
107 if (data.kalman_height != AltosRecord.MISSING)
108 height = data.kalman_height;
110 if (altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING) {
111 double cur_height = altitude - ground_altitude;
112 if (prev_state == null || prev_state.height == AltosRecord.MISSING)
115 height = (prev_state.height * 15 + cur_height) / 16.0;
119 report_time = System.currentTimeMillis();
121 if (data.kalman_acceleration != AltosRecord.MISSING)
122 acceleration = data.kalman_acceleration;
124 acceleration = data.acceleration();
125 temperature = data.temperature();
126 drogue_sense = data.drogue_voltage();
127 main_sense = data.main_voltage();
128 battery = data.battery_voltage();
129 pressure = data.pressure();
133 if (prev_state != null) {
135 /* Preserve any existing gps data */
136 npad = prev_state.npad;
137 ngps = prev_state.ngps;
138 gps = prev_state.gps;
139 gps_sequence = prev_state.gps_sequence;
140 pad_lat = prev_state.pad_lat;
141 pad_lon = prev_state.pad_lon;
142 pad_alt = prev_state.pad_alt;
143 max_height = prev_state.max_height;
144 max_acceleration = prev_state.max_acceleration;
145 max_accel_speed = prev_state.max_accel_speed;
146 max_baro_speed = prev_state.max_baro_speed;
147 imu = prev_state.imu;
148 mag = prev_state.mag;
150 /* make sure the clock is monotonic */
151 while (tick < prev_state.tick)
154 time_change = (tick - prev_state.tick) / 100.0;
156 if (data.kalman_speed != AltosRecord.MISSING) {
157 baro_speed = accel_speed = data.kalman_speed;
159 /* compute barometric speed */
161 double height_change = height - prev_state.height;
163 double prev_baro_speed = prev_state.baro_speed;
164 if (prev_baro_speed == AltosRecord.MISSING)
168 baro_speed = (prev_baro_speed * 3 + (height_change / time_change)) / 4.0;
170 baro_speed = prev_state.baro_speed;
172 double prev_accel_speed = prev_state.accel_speed;
174 if (prev_accel_speed == AltosRecord.MISSING)
175 prev_accel_speed = 0;
177 if (acceleration == AltosRecord.MISSING) {
178 /* Fill in mising acceleration value */
179 accel_speed = baro_speed;
181 if (time_change > 0 && accel_speed != AltosRecord.MISSING)
182 acceleration = (accel_speed - prev_accel_speed) / time_change;
184 acceleration = prev_state.acceleration;
186 /* compute accelerometer speed */
187 accel_speed = prev_accel_speed + acceleration * time_change;
195 baro_speed = AltosRecord.MISSING;
196 accel_speed = AltosRecord.MISSING;
197 pad_alt = AltosRecord.MISSING;
201 max_acceleration = 0;
207 if (data.gps != null && data.gps_sequence != gps_sequence && (state < AltosLib.ao_flight_boost)) {
209 /* Track consecutive 'good' gps reports, waiting for 10 of them */
210 if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
215 /* Average GPS data while on the pad */
216 if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
217 if (ngps > 1 && state == AltosLib.ao_flight_pad) {
218 /* filter pad position */
219 pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
220 pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
221 pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
223 pad_lat = data.gps.lat;
224 pad_lon = data.gps.lon;
225 pad_alt = data.gps.alt;
230 if (ngps == 0 && ground_altitude != AltosRecord.MISSING)
231 pad_alt = ground_altitude;
234 gps_sequence = data.gps_sequence;
236 gps_waiting = MIN_PAD_SAMPLES - npad;
240 gps_ready = gps_waiting == 0;
242 ascent = (AltosLib.ao_flight_boost <= state &&
243 state <= AltosLib.ao_flight_coast);
244 boost = (AltosLib.ao_flight_boost == state);
246 /* Only look at accelerometer data under boost */
247 if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
248 max_acceleration = acceleration;
249 if (boost && accel_speed != AltosRecord.MISSING && accel_speed > max_accel_speed)
250 max_accel_speed = accel_speed;
251 if (boost && baro_speed != AltosRecord.MISSING && baro_speed > max_baro_speed)
252 max_baro_speed = baro_speed;
254 if (height != AltosRecord.MISSING && height > max_height)
259 if (data.gps != null) {
261 if (ngps > 0 && gps.locked) {
264 if (h == AltosRecord.MISSING) h = 0;
265 from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
266 elevation = from_pad.elevation;
267 range = from_pad.range;
268 gps_height = gps.alt - pad_alt;
273 public AltosState(AltosRecord cur) {
277 public AltosState (AltosRecord cur, AltosState prev) {