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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;
  23
  24 public class AltosState {
  25         public AltosRecord data;
  26
  27         /* derived data */
  28
  29         public long     report_time;
  30
  31         public double   time;
  32         public double   time_change;
  33         public int      tick;
  34
  35         public int      state;
  36         public boolean  landed;
  37         public boolean  ascent; /* going up? */
  38         public boolean boost;   /* under power */
  39
  40         public double   ground_altitude;
  41         public double   altitude;
  42         public double   height;
  43         public double   acceleration;
  44         public double   battery;
  45         public double   temperature;
  46         public double   main_sense;
  47         public double   drogue_sense;
  48         public double   accel_speed;
  49         public double   baro_speed;
  50
  51         public double   max_height;
  52         public double   max_acceleration;
  53         public double   max_accel_speed;
  54         public double   max_baro_speed;
  55
  56         public AltosGPS gps;
  57
  58         public AltosIMU imu;
  59         public AltosMag mag;
  60
  61         public static final int MIN_PAD_SAMPLES = 10;
  62
  63         public int      npad;
  64         public int      ngps;
  65         public int      gps_waiting;
  66         public boolean  gps_ready;
  67
  68         public AltosGreatCircle from_pad;
  69         public double   elevation;      /* from pad */
  70         public double   range;          /* total distance */
  71
  72         public double   gps_height;
  73
  74         public double pad_lat, pad_lon, pad_alt;
  75
  76         public int      speak_tick;
  77         public double   speak_altitude;
  78
  79         public double speed() {
  80                 if (ascent)
  81                         return accel_speed;
  82                 else
  83                         return baro_speed;
  84         }
  85
  86         public double max_speed() {
  87                 if (max_accel_speed != 0)
  88                         return max_accel_speed;
  89                 return max_baro_speed;
  90         }
  91
  92         public void init (AltosRecord cur, AltosState prev_state) {
  93                 data = cur;
  94
  95                 ground_altitude = data.ground_altitude();
  96
  97                 altitude = data.altitude();
  98
  99                 if (data.kalman_height != AltosRecord.MISSING)
 100                         height = data.kalman_height;
 101                 else {
 102                         if (prev_state != null)
 103                                 height = (prev_state.height * 15 + altitude - ground_altitude) / 16.0;
 104                 }
 105
 106                 report_time = System.currentTimeMillis();
 107
 108                 if (data.kalman_acceleration != AltosRecord.MISSING)
 109                         acceleration = data.kalman_acceleration;
 110                 else
 111                         acceleration = data.acceleration();
 112                 temperature = data.temperature();
 113                 drogue_sense = data.drogue_voltage();
 114                 main_sense = data.main_voltage();
 115                 battery = data.battery_voltage();
 116                 tick = data.tick;
 117                 state = data.state;
 118
 119                 if (prev_state != null) {
 120
 121                         /* Preserve any existing gps data */
 122                         npad = prev_state.npad;
 123                         ngps = prev_state.ngps;
 124                         gps = prev_state.gps;
 125                         pad_lat = prev_state.pad_lat;
 126                         pad_lon = prev_state.pad_lon;
 127                         pad_alt = prev_state.pad_alt;
 128                         max_height = prev_state.max_height;
 129                         max_acceleration = prev_state.max_acceleration;
 130                         max_accel_speed = prev_state.max_accel_speed;
 131                         max_baro_speed = prev_state.max_baro_speed;
 132                         imu = prev_state.imu;
 133                         mag = prev_state.mag;
 134
 135                         /* make sure the clock is monotonic */
 136                         while (tick < prev_state.tick)
 137                                 tick += 65536;
 138
 139                         time_change = (tick - prev_state.tick) / 100.0;
 140
 141                         if (data.kalman_speed != AltosRecord.MISSING) {
 142                                 baro_speed = accel_speed = data.kalman_speed;
 143                         } else {
 144                                 /* compute barometric speed */
 145
 146                                 double height_change = height - prev_state.height;
 147                                 if (time_change > 0)
 148                                         baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
 149                                 else
 150                                         baro_speed = prev_state.baro_speed;
 151
 152                                 if (acceleration == AltosRecord.MISSING) {
 153                                         /* Fill in mising acceleration value */
 154                                         accel_speed = baro_speed;
 155                                         if (time_change > 0)
 156                                                 acceleration = (accel_speed - prev_state.accel_speed) / time_change;
 157                                         else
 158                                                 acceleration = prev_state.acceleration;
 159                                 } else {
 160                                         /* compute accelerometer speed */
 161                                         accel_speed = prev_state.accel_speed + acceleration * time_change;
 162                                 }
 163                         }
 164
 165                 } else {
 166                         npad = 0;
 167                         ngps = 0;
 168                         gps = null;
 169                         baro_speed = 0;
 170                         accel_speed = 0;
 171                         time_change = 0;
 172                         if (acceleration == AltosRecord.MISSING)
 173                                 acceleration = 0;
 174                 }
 175
 176                 time = tick / 100.0;
 177
 178                 if (cur.new_gps && (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_idle)) {
 179
 180                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 181                         if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
 182                                 npad++;
 183                         else
 184                                 npad = 0;
 185
 186                         /* Average GPS data while on the pad */
 187                         if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
 188                                 if (ngps > 1) {
 189                                         /* filter pad position */
 190                                         pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
 191                                         pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
 192                                         pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
 193                                 } else {
 194                                         pad_lat = data.gps.lat;
 195                                         pad_lon = data.gps.lon;
 196                                         pad_alt = data.gps.alt;
 197                                 }
 198                                 ngps++;
 199                         }
 200                 } else
 201                         pad_alt = ground_altitude;
 202
 203                 data.new_gps = false;
 204
 205                 gps_waiting = MIN_PAD_SAMPLES - npad;
 206                 if (gps_waiting < 0)
 207                         gps_waiting = 0;
 208
 209                 gps_ready = gps_waiting == 0;
 210
 211                 ascent = (AltosLib.ao_flight_boost <= state &&
 212                           state <= AltosLib.ao_flight_coast);
 213                 boost = (AltosLib.ao_flight_boost == state);
 214
 215                 /* Only look at accelerometer data under boost */
 216                 if (boost && acceleration > max_acceleration && acceleration != AltosRecord.MISSING)
 217                         max_acceleration = acceleration;
 218                 if (boost && accel_speed > max_accel_speed && accel_speed != AltosRecord.MISSING)
 219                         max_accel_speed = accel_speed;
 220                 if (boost && baro_speed > max_baro_speed && baro_speed != AltosRecord.MISSING)
 221                         max_baro_speed = baro_speed;
 222
 223                 if (height > max_height && height != AltosRecord.MISSING)
 224                         max_height = height;
 225                 if (data.gps != null) {
 226                         if (gps == null || !gps.locked || data.gps.locked)
 227                                 gps = data.gps;
 228                         if (ngps > 0 && gps.locked) {
 229                                 from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
 230                         }
 231                 }
 232                 elevation = 0;
 233                 range = -1;
 234                 if (ngps > 0) {
 235                         gps_height = gps.alt - pad_alt;
 236                         if (from_pad != null) {
 237                                 elevation = Math.atan2(height, from_pad.distance) * 180 / Math.PI;
 238                                 range = Math.sqrt(height * height + from_pad.distance * from_pad.distance);
 239                         }
 240                 } else {
 241                         gps_height = 0;
 242                 }
 243         }
 244
 245         public AltosState(AltosRecord cur) {
 246                 init(cur, null);
 247         }
 248
 249         public AltosState (AltosRecord cur, AltosState prev) {
 250                 init(cur, prev);
 251         }
 252 }