git.gag.com Git - fw/altos/blob - altoslib/AltosState.java

   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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 /*
  20  * Track flight state from telemetry or eeprom data stream
  21  */
  22
  23 package org.altusmetrum.altoslib_11;
  24
  25 import java.io.*;
  26
  27 public class AltosState extends AltosDataListener {
  28
  29         public static final int set_position = 1;
  30         public static final int set_gps = 2;
  31         public static final int set_data = 4;
  32
  33         public int set;
  34
  35         static final double filter_len = 2.0;
  36         static final double ascent_filter_len = 0.5;
  37         static final double descent_filter_len = 5.0;
  38
  39         /* derived data */
  40
  41         public long     received_time;
  42
  43         public int      rssi;
  44         public int      status;
  45
  46         public double   time;
  47         public double   prev_time;
  48         public double   time_change;
  49
  50         class AltosValue {
  51                 double  value;
  52                 double  prev_value;
  53                 private double  max_value;
  54                 private double  set_time;
  55                 private double  prev_set_time;
  56
  57                 boolean can_max() { return true; }
  58
  59                 void set(double new_value, double time) {
  60                         if (new_value != AltosLib.MISSING) {
  61                                 value = new_value;
  62                                 if (can_max() && (max_value == AltosLib.MISSING || value > max_value))
  63                                         max_value = value;
  64                                 set_time = time;
  65                         }
  66                 }
  67
  68                 void set_filtered(double new_value, double time) {
  69                         if (prev_value != AltosLib.MISSING) {
  70                                 double f = 1/Math.exp((time - prev_set_time) / filter_len);
  71                                 new_value = f * new_value + (1-f) * prev_value;
  72                         }
  73                         set(new_value, time);
  74                 }
  75
  76                 double value() {
  77                         return value;
  78                 }
  79
  80                 double max() {
  81                         return max_value;
  82                 }
  83
  84                 double prev() {
  85                         return prev_value;
  86                 }
  87
  88                 double change() {
  89                         if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
  90                                 return value - prev_value;
  91                         return AltosLib.MISSING;
  92                 }
  93
  94                 double rate() {
  95                         double c = change();
  96                         double t = set_time - prev_set_time;
  97
  98                         if (c != AltosLib.MISSING && t != 0)
  99                                 return c / t;
 100                         return AltosLib.MISSING;
 101                 }
 102
 103                 double integrate() {
 104                         if (value == AltosLib.MISSING)
 105                                 return AltosLib.MISSING;
 106                         if (prev_value == AltosLib.MISSING)
 107                                 return AltosLib.MISSING;
 108
 109                         return (value + prev_value) / 2 * (set_time - prev_set_time);
 110                 }
 111
 112                 double time() {
 113                         return set_time;
 114                 }
 115
 116                 void set_derivative(AltosValue in) {
 117                         double  n = in.rate();
 118
 119                         if (n == AltosLib.MISSING)
 120                                 return;
 121
 122                         double  p = prev_value;
 123                         double  pt = prev_set_time;
 124
 125                         if (p == AltosLib.MISSING) {
 126                                 p = 0;
 127                                 pt = in.time() - 0.01;
 128                         }
 129
 130                         /* Clip changes to reduce noise */
 131                         double  ddt = in.time() - pt;
 132                         double  ddv = (n - p) / ddt;
 133
 134                         final double max = 100000;
 135
 136                         /* 100gs */
 137                         if (Math.abs(ddv) > max) {
 138                                 if (n > p)
 139                                         n = p + ddt * max;
 140                                 else
 141                                         n = p - ddt * max;
 142                         }
 143
 144                         double filter_len;
 145
 146                         if (ascent)
 147                                 filter_len = ascent_filter_len;
 148                         else
 149                                 filter_len = descent_filter_len;
 150
 151                         double f = 1/Math.exp(ddt/ filter_len);
 152                         n = p * f + n * (1-f);
 153
 154                         set(n, in.time());
 155                 }
 156
 157                 void set_integral(AltosValue in) {
 158                         double  change = in.integrate();
 159
 160                         if (change != AltosLib.MISSING) {
 161                                 double  prev = prev_value;
 162                                 if (prev == AltosLib.MISSING)
 163                                         prev = 0;
 164                                 set(prev + change, in.time());
 165                         }
 166                 }
 167
 168                 void copy(AltosValue old) {
 169                         value = old.value;
 170                         set_time = old.set_time;
 171                         prev_value = old.value;
 172                         prev_set_time = old.set_time;
 173                         max_value = old.max_value;
 174                 }
 175
 176                 void finish_update() {
 177                         prev_value = value;
 178                         prev_set_time = set_time;
 179                 }
 180
 181                 AltosValue() {
 182                         value = AltosLib.MISSING;
 183                         prev_value = AltosLib.MISSING;
 184                         max_value = AltosLib.MISSING;
 185                 }
 186
 187         }
 188
 189         class AltosCValue {
 190
 191                 class AltosIValue extends AltosValue {
 192                         boolean can_max() {
 193                                 return c_can_max();
 194                         }
 195
 196                         AltosIValue() {
 197                                 super();
 198                         }
 199                 };
 200
 201                 public AltosIValue      measured;
 202                 public AltosIValue      computed;
 203
 204                 boolean can_max() { return true; }
 205
 206                 boolean c_can_max() { return can_max(); }
 207
 208                 double value() {
 209                         double v = measured.value();
 210                         if (v != AltosLib.MISSING)
 211                                 return v;
 212                         return computed.value();
 213                 }
 214
 215                 boolean is_measured() {
 216                         return measured.value() != AltosLib.MISSING;
 217                 }
 218
 219                 double max() {
 220                         double m = measured.max();
 221
 222                         if (m != AltosLib.MISSING)
 223                                 return m;
 224                         return computed.max();
 225                 }
 226
 227                 double prev_value() {
 228                         if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
 229                                 return measured.prev_value;
 230                         return computed.prev_value;
 231                 }
 232
 233                 AltosValue altos_value() {
 234                         if (measured.value() != AltosLib.MISSING)
 235                                 return measured;
 236                         return computed;
 237                 }
 238
 239                 double change() {
 240                         double c = measured.change();
 241                         if (c == AltosLib.MISSING)
 242                                 c = computed.change();
 243                         return c;
 244                 }
 245
 246                 double rate() {
 247                         double r = measured.rate();
 248                         if (r == AltosLib.MISSING)
 249                                 r = computed.rate();
 250                         return r;
 251                 }
 252
 253                 void set_measured(double new_value, double time) {
 254                         measured.set(new_value, time);
 255                 }
 256
 257                 void set_computed(double new_value, double time) {
 258                         computed.set(new_value, time);
 259                 }
 260
 261                 void set_derivative(AltosValue in) {
 262                         computed.set_derivative(in);
 263                 }
 264
 265                 void set_derivative(AltosCValue in) {
 266                         set_derivative(in.altos_value());
 267                 }
 268
 269                 void set_integral(AltosValue in) {
 270                         computed.set_integral(in);
 271                 }
 272
 273                 void set_integral(AltosCValue in) {
 274                         set_integral(in.altos_value());
 275                 }
 276
 277                 void copy(AltosCValue old) {
 278                         measured.copy(old.measured);
 279                         computed.copy(old.computed);
 280                 }
 281
 282                 void finish_update() {
 283                         measured.finish_update();
 284                         computed.finish_update();
 285                 }
 286
 287                 public AltosCValue() {
 288                         measured = new AltosIValue();
 289                         computed = new AltosIValue();
 290                 }
 291         }
 292
 293         private int     state;
 294         public int      altitude_32;
 295         public int      receiver_serial;
 296         public boolean  landed;
 297         public boolean  ascent; /* going up? */
 298         public boolean  boost;  /* under power */
 299         public int      config_major;
 300         public int      config_minor;
 301         public int      apogee_delay;
 302         public int      main_deploy;
 303         public int      flight_log_max;
 304
 305         private double pressure_to_altitude(double p) {
 306                 if (p == AltosLib.MISSING)
 307                         return AltosLib.MISSING;
 308                 return AltosConvert.pressure_to_altitude(p);
 309         }
 310
 311         private AltosCValue ground_altitude;
 312
 313         public double ground_altitude() {
 314                 return ground_altitude.value();
 315         }
 316
 317         public void set_ground_altitude(double a) {
 318                 ground_altitude.set_measured(a, time);
 319         }
 320
 321         class AltosGpsGroundAltitude extends AltosValue {
 322                 void set(double a, double t) {
 323                         super.set(a, t);
 324                         pad_alt = value();
 325                         gps_altitude.set_gps_height();
 326                 }
 327
 328                 void set_filtered(double a, double t) {
 329                         super.set_filtered(a, t);
 330                         pad_alt = value();
 331                         gps_altitude.set_gps_height();
 332                 }
 333
 334                 AltosGpsGroundAltitude() {
 335                         super();
 336                 }
 337         }
 338
 339         private AltosGpsGroundAltitude gps_ground_altitude;
 340
 341         public double gps_ground_altitude() {
 342                 return gps_ground_altitude.value();
 343         }
 344
 345         public void set_gps_ground_altitude(double a) {
 346                 gps_ground_altitude.set(a, time);
 347         }
 348
 349         class AltosGroundPressure extends AltosCValue {
 350                 void set_filtered(double p, double time) {
 351                         computed.set_filtered(p, time);
 352                         if (!is_measured())
 353                                 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
 354                 }
 355
 356                 void set_measured(double p, double time) {
 357                         super.set_measured(p, time);
 358                         ground_altitude.set_computed(pressure_to_altitude(p), time);
 359                 }
 360
 361                 AltosGroundPressure () {
 362                         super();
 363                 }
 364         }
 365
 366         private AltosGroundPressure ground_pressure;
 367
 368         public double ground_pressure() {
 369                 return ground_pressure.value();
 370         }
 371
 372         public void set_ground_pressure (double pressure) {
 373                 ground_pressure.set_measured(pressure, time);
 374         }
 375
 376         class AltosAltitude extends AltosCValue {
 377
 378                 private void set_speed(AltosValue v) {
 379                         if (!acceleration.is_measured() || !ascent)
 380                                 speed.set_derivative(this);
 381                 }
 382
 383                 void set_computed(double a, double time) {
 384                         super.set_computed(a,time);
 385                         set_speed(computed);
 386                         set |= set_position;
 387                 }
 388
 389                 void set_measured(double a, double time) {
 390                         super.set_measured(a,time);
 391                         set_speed(measured);
 392                         set |= set_position;
 393                 }
 394
 395                 AltosAltitude() {
 396                         super();
 397                 }
 398         }
 399
 400         private AltosAltitude   altitude;
 401
 402         class AltosGpsAltitude extends AltosValue {
 403
 404                 private void set_gps_height() {
 405                         double  a = value();
 406                         double  g = gps_ground_altitude.value();
 407
 408                         if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 409                                 gps_height = a - g;
 410                         else
 411                                 gps_height = AltosLib.MISSING;
 412                 }
 413
 414                 void set(double a, double t) {
 415                         super.set(a, t);
 416                         set_gps_height();
 417                 }
 418
 419                 AltosGpsAltitude() {
 420                         super();
 421                 }
 422         }
 423
 424         private AltosGpsAltitude        gps_altitude;
 425
 426         private AltosValue              gps_ground_speed;
 427         private AltosValue              gps_ascent_rate;
 428         private AltosValue              gps_course;
 429         private AltosValue              gps_speed;
 430
 431         public double altitude() {
 432                 double a = altitude.value();
 433                 if (a != AltosLib.MISSING)
 434                         return a;
 435                 return gps_altitude.value();
 436         }
 437
 438         public double max_altitude() {
 439                 double a = altitude.max();
 440                 if (a != AltosLib.MISSING)
 441                         return a;
 442                 return gps_altitude.max();
 443         }
 444
 445         public void set_altitude(double new_altitude) {
 446                 double old_altitude = altitude.value();
 447                 if (old_altitude != AltosLib.MISSING) {
 448                         while (old_altitude - new_altitude > 32000)
 449                                 new_altitude += 65536.0;
 450                 }
 451                 altitude.set_measured(new_altitude, time);
 452         }
 453
 454         public double gps_altitude() {
 455                 return gps_altitude.value();
 456         }
 457
 458         public double max_gps_altitude() {
 459                 return gps_altitude.max();
 460         }
 461
 462         public void set_gps_altitude(double new_gps_altitude) {
 463                 gps_altitude.set(new_gps_altitude, time);
 464         }
 465
 466         public double gps_ground_speed() {
 467                 return gps_ground_speed.value();
 468         }
 469
 470         public double max_gps_ground_speed() {
 471                 return gps_ground_speed.max();
 472         }
 473
 474         public double gps_ascent_rate() {
 475                 return gps_ascent_rate.value();
 476         }
 477
 478         public double max_gps_ascent_rate() {
 479                 return gps_ascent_rate.max();
 480         }
 481
 482         public double gps_course() {
 483                 return gps_course.value();
 484         }
 485
 486         public double gps_speed() {
 487                 return gps_speed.value();
 488         }
 489
 490         public double max_gps_speed() {
 491                 return gps_speed.max();
 492         }
 493
 494         class AltosPressure extends AltosValue {
 495                 void set(double p, double time) {
 496                         super.set(p, time);
 497                         if (state == AltosLib.ao_flight_pad)
 498                                 ground_pressure.set_filtered(p, time);
 499                         double a = pressure_to_altitude(p);
 500                         altitude.set_computed(a, time);
 501                 }
 502
 503                 AltosPressure() {
 504                         super();
 505                 }
 506         }
 507
 508         private AltosPressure   pressure;
 509
 510         public double pressure() {
 511                 return pressure.value();
 512         }
 513
 514         public void set_pressure(double p) {
 515                 pressure.set(p, time);
 516         }
 517
 518         class AltosForce extends AltosValue {
 519                 void set(double p, double time) {
 520                         super.set(p, time);
 521                 }
 522
 523                 AltosForce() {
 524                         super();
 525                 }
 526         }
 527         private AltosForce      thrust;
 528
 529         public double thrust() {
 530                 return thrust.value();
 531         }
 532
 533         public void set_thrust(double N) {
 534                 thrust.set(N, time);
 535         }
 536
 537         public double baro_height() {
 538                 double a = altitude();
 539                 double g = ground_altitude();
 540                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 541                         return a - g;
 542                 return AltosLib.MISSING;
 543         }
 544
 545         public double height() {
 546                 double k = kalman_height.value();
 547                 if (k != AltosLib.MISSING)
 548                         return k;
 549
 550                 double b = baro_height();
 551                 if (b != AltosLib.MISSING)
 552                         return b;
 553
 554                 return gps_height();
 555         }
 556
 557         public double max_height() {
 558                 double  k = kalman_height.max();
 559                 if (k != AltosLib.MISSING)
 560                         return k;
 561
 562                 double a = altitude.max();
 563                 double g = ground_altitude();
 564                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 565                         return a - g;
 566                 return max_gps_height();
 567         }
 568
 569         public double gps_height() {
 570                 double a = gps_altitude();
 571                 double g = gps_ground_altitude();
 572
 573                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 574                         return a - g;
 575                 return AltosLib.MISSING;
 576         }
 577
 578         public double max_gps_height() {
 579                 double a = gps_altitude.max();
 580                 double g = gps_ground_altitude();
 581
 582                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 583                         return a - g;
 584                 return AltosLib.MISSING;
 585         }
 586
 587         class AltosSpeed extends AltosCValue {
 588
 589                 boolean can_max() {
 590                         return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
 591                 }
 592
 593                 void set_accel() {
 594                         acceleration.set_derivative(this);
 595                 }
 596
 597                 void set_derivative(AltosCValue in) {
 598                         super.set_derivative(in);
 599                         set_accel();
 600                 }
 601
 602                 void set_computed(double new_value, double time) {
 603                         super.set_computed(new_value, time);
 604                         set_accel();
 605                 }
 606
 607                 void set_measured(double new_value, double time) {
 608                         super.set_measured(new_value, time);
 609                         set_accel();
 610                 }
 611
 612                 AltosSpeed() {
 613                         super();
 614                 }
 615         }
 616
 617         private AltosSpeed speed;
 618
 619         public double speed() {
 620                 double v = kalman_speed.value();
 621                 if (v != AltosLib.MISSING)
 622                         return v;
 623                 v = speed.value();
 624                 if (v != AltosLib.MISSING)
 625                         return v;
 626                 v = gps_speed();
 627                 if (v != AltosLib.MISSING)
 628                         return v;
 629                 return AltosLib.MISSING;
 630         }
 631
 632         public double max_speed() {
 633                 double v = kalman_speed.max();
 634                 if (v != AltosLib.MISSING)
 635                         return v;
 636                 v = speed.max();
 637                 if (v != AltosLib.MISSING)
 638                         return v;
 639                 v = max_gps_speed();
 640                 if (v != AltosLib.MISSING)
 641                         return v;
 642                 return AltosLib.MISSING;
 643         }
 644
 645         class AltosAccel extends AltosCValue {
 646
 647                 boolean can_max() {
 648                         return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
 649                 }
 650
 651                 void set_measured(double a, double time) {
 652                         super.set_measured(a, time);
 653                         if (ascent)
 654                                 speed.set_integral(this.measured);
 655                 }
 656
 657                 AltosAccel() {
 658                         super();
 659                 }
 660         }
 661
 662         AltosAccel acceleration;
 663
 664         public double acceleration() {
 665                 return acceleration.value();
 666         }
 667
 668         public double max_acceleration() {
 669                 return acceleration.max();
 670         }
 671
 672         public AltosCValue      orient;
 673
 674         public void set_orient(double new_orient) {
 675                 orient.set_measured(new_orient, time);
 676         }
 677
 678         public double orient() {
 679                 return orient.value();
 680         }
 681
 682         public double max_orient() {
 683                 return orient.max();
 684         }
 685
 686         public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 687
 688         public void set_kalman(double height, double speed, double acceleration) {
 689                 double old_height = kalman_height.value();
 690                 if (old_height != AltosLib.MISSING) {
 691                         while (old_height - height > 32000)
 692                                 height += 65536;
 693                 }
 694                 kalman_height.set(height, time);
 695                 kalman_speed.set(speed, time);
 696                 kalman_acceleration.set(acceleration, time);
 697         }
 698
 699         public double   battery_voltage;
 700         public double   pyro_voltage;
 701         public double   temperature;
 702         public double   apogee_voltage;
 703         public double   main_voltage;
 704
 705         public double   ignitor_voltage[];
 706
 707         public AltosGPS gps;
 708         public AltosGPS temp_gps;
 709         public int temp_gps_sat_tick;
 710         public boolean  gps_pending;
 711
 712         public AltosIMU imu;
 713         public AltosMag mag;
 714
 715         public static final int MIN_PAD_SAMPLES = 10;
 716
 717         public int      npad;
 718         public int      gps_waiting;
 719         public boolean  gps_ready;
 720
 721         public int      ngps;
 722
 723         public AltosGreatCircle from_pad;
 724         public double   elevation;      /* from pad */
 725         public double   range;          /* total distance */
 726
 727         public double   gps_height;
 728
 729         public double pad_lat, pad_lon, pad_alt;
 730
 731         public int      speak_tick;
 732         public double   speak_altitude;
 733
 734         public String   callsign;
 735         public String   firmware_version;
 736
 737         public double   ground_accel;
 738
 739         public int      log_format;
 740         public int      log_space;
 741         public String   product;
 742
 743         public AltosMs5607      baro;
 744
 745         public AltosCompanion   companion;
 746
 747         public int      pyro_fired;
 748
 749         public void set_npad(int npad) {
 750                 this.npad = npad;
 751                 gps_waiting = MIN_PAD_SAMPLES - npad;
 752                 if (this.gps_waiting < 0)
 753                         gps_waiting = 0;
 754                 gps_ready = gps_waiting == 0;
 755         }
 756
 757         public void init() {
 758                 set = 0;
 759
 760                 received_time = System.currentTimeMillis();
 761                 time = AltosLib.MISSING;
 762                 time_change = AltosLib.MISSING;
 763                 prev_time = AltosLib.MISSING;
 764                 state = AltosLib.ao_flight_invalid;
 765                 landed = false;
 766                 boost = false;
 767                 rssi = AltosLib.MISSING;
 768                 status = 0;
 769                 config_major = AltosLib.MISSING;
 770                 config_minor = AltosLib.MISSING;
 771                 apogee_delay = AltosLib.MISSING;
 772                 main_deploy = AltosLib.MISSING;
 773                 flight_log_max = AltosLib.MISSING;
 774
 775                 ground_altitude = new AltosCValue();
 776                 ground_pressure = new AltosGroundPressure();
 777                 altitude = new AltosAltitude();
 778                 pressure = new AltosPressure();
 779                 thrust = new AltosForce();
 780                 speed = new AltosSpeed();
 781                 acceleration = new AltosAccel();
 782                 orient = new AltosCValue();
 783
 784                 temperature = AltosLib.MISSING;
 785                 battery_voltage = AltosLib.MISSING;
 786                 pyro_voltage = AltosLib.MISSING;
 787                 apogee_voltage = AltosLib.MISSING;
 788                 main_voltage = AltosLib.MISSING;
 789                 ignitor_voltage = null;
 790
 791                 kalman_height = new AltosValue();
 792                 kalman_speed = new AltosValue();
 793                 kalman_acceleration = new AltosValue();
 794
 795                 gps = null;
 796                 temp_gps = null;
 797                 temp_gps_sat_tick = 0;
 798                 gps_pending = false;
 799
 800                 imu = null;
 801                 last_imu_time = AltosLib.MISSING;
 802                 rotation = null;
 803                 ground_rotation = null;
 804
 805                 mag = null;
 806                 accel_zero_along = AltosLib.MISSING;
 807                 accel_zero_across = AltosLib.MISSING;
 808                 accel_zero_through = AltosLib.MISSING;
 809
 810                 accel_ground_along = AltosLib.MISSING;
 811                 accel_ground_across = AltosLib.MISSING;
 812                 accel_ground_through = AltosLib.MISSING;
 813
 814                 pad_orientation = AltosLib.MISSING;
 815
 816                 set_npad(0);
 817                 ngps = 0;
 818
 819                 from_pad = null;
 820                 elevation = AltosLib.MISSING;
 821                 range = AltosLib.MISSING;
 822                 gps_height = AltosLib.MISSING;
 823
 824                 pad_lat = AltosLib.MISSING;
 825                 pad_lon = AltosLib.MISSING;
 826                 pad_alt = AltosLib.MISSING;
 827
 828                 gps_altitude = new AltosGpsAltitude();
 829                 gps_ground_altitude = new AltosGpsGroundAltitude();
 830                 gps_ground_speed = new AltosValue();
 831                 gps_speed = new AltosValue();
 832                 gps_ascent_rate = new AltosValue();
 833                 gps_course = new AltosValue();
 834
 835                 speak_tick = AltosLib.MISSING;
 836                 speak_altitude = AltosLib.MISSING;
 837
 838                 callsign = null;
 839                 firmware_version = null;
 840
 841                 ground_accel = AltosLib.MISSING;
 842
 843                 log_format = AltosLib.MISSING;
 844                 log_space = AltosLib.MISSING;
 845                 product = null;
 846                 receiver_serial = AltosLib.MISSING;
 847                 altitude_32 = AltosLib.MISSING;
 848
 849                 baro = null;
 850                 companion = null;
 851
 852                 pyro_fired = 0;
 853         }
 854
 855         void finish_update() {
 856                 ground_altitude.finish_update();
 857                 altitude.finish_update();
 858                 pressure.finish_update();
 859                 speed.finish_update();
 860                 acceleration.finish_update();
 861                 orient.finish_update();
 862
 863                 kalman_height.finish_update();
 864                 kalman_speed.finish_update();
 865                 kalman_acceleration.finish_update();
 866         }
 867
 868         void update_time() {
 869         }
 870
 871         void update_gps() {
 872                 elevation = AltosLib.MISSING;
 873                 range = AltosLib.MISSING;
 874
 875                 if (gps == null)
 876                         return;
 877
 878                 if (gps.locked && gps.nsat >= 4) {
 879                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 880                         if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) {
 881                                 set_npad(npad+1);
 882                                 if (pad_lat != AltosLib.MISSING && (npad < 10 || state == AltosLib.ao_flight_pad)) {
 883                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
 884                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
 885                                         gps_ground_altitude.set_filtered(gps.alt, time);
 886                                 }
 887                         }
 888                         if (pad_lat == AltosLib.MISSING) {
 889                                 pad_lat = gps.lat;
 890                                 pad_lon = gps.lon;
 891                                 gps_ground_altitude.set(gps.alt, time);
 892                         }
 893                         gps_altitude.set(gps.alt, time);
 894                         if (gps.climb_rate != AltosLib.MISSING)
 895                                 gps_ascent_rate.set(gps.climb_rate, time);
 896                         if (gps.ground_speed != AltosLib.MISSING)
 897                                 gps_ground_speed.set(gps.ground_speed, time);
 898                         if (gps.climb_rate != AltosLib.MISSING && gps.ground_speed != AltosLib.MISSING)
 899                                 gps_speed.set(Math.sqrt(gps.ground_speed * gps.ground_speed +
 900                                                         gps.climb_rate * gps.climb_rate), time);
 901                         if (gps.course != AltosLib.MISSING)
 902                                 gps_course.set(gps.course, time);
 903                 }
 904                 if (gps.lat != 0 && gps.lon != 0 &&
 905                     pad_lat != AltosLib.MISSING &&
 906                     pad_lon != AltosLib.MISSING)
 907                 {
 908                         double h = height();
 909
 910                         if (h == AltosLib.MISSING)
 911                                 h = 0;
 912                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 913                         elevation = from_pad.elevation;
 914                         range = from_pad.range;
 915                 }
 916         }
 917
 918         public String state_name() {
 919                 return AltosLib.state_name(state);
 920         }
 921
 922         public void set_product(String product) {
 923                 this.product = product;
 924         }
 925
 926         public void set_state(int state) {
 927                 if (state != AltosLib.ao_flight_invalid) {
 928                         this.state = state;
 929                         ascent = (AltosLib.ao_flight_boost <= state &&
 930                                   state <= AltosLib.ao_flight_coast);
 931                         boost = (AltosLib.ao_flight_boost == state);
 932                 }
 933         }
 934
 935         public int state() {
 936                 return state;
 937         }
 938
 939         public void set_log_format(int log_format) {
 940                 this.log_format = log_format;
 941                 switch (log_format) {
 942                 case AltosLib.AO_LOG_FORMAT_TELEGPS:
 943                         this.state = AltosLib.ao_flight_stateless;
 944                         break;
 945                 }
 946         }
 947
 948         public void set_log_space(int log_space) {
 949                 this.log_space = log_space;
 950         }
 951
 952         public void set_flight_params(int apogee_delay, int main_deploy) {
 953                 this.apogee_delay = apogee_delay;
 954                 this.main_deploy = main_deploy;
 955         }
 956
 957         public void set_config(int major, int minor, int flight_log_max) {
 958                 config_major = major;
 959                 config_minor = minor;
 960                 this.flight_log_max = flight_log_max;
 961         }
 962
 963         public void set_callsign(String callsign) {
 964                 this.callsign = callsign;
 965         }
 966
 967         public void set_firmware_version(String version) {
 968                 firmware_version = version;
 969         }
 970
 971         public int compare_version(String other_version) {
 972                 if (firmware_version == null)
 973                         return AltosLib.MISSING;
 974                 return AltosLib.compare_version(firmware_version, other_version);
 975         }
 976
 977         private void re_init() {
 978                 int rs = receiver_serial;
 979                 init();
 980                 receiver_serial = rs;
 981         }
 982
 983 //      public void set_flight(int flight) {
 984 //
 985 //              /* When the flight changes, reset the state */
 986 //              if (flight != AltosLib.MISSING) {
 987 //                      if (this.flight != AltosLib.MISSING &&
 988 //                          this.flight != flight) {
 989 //                              re_init();
 990 //                      }
 991 //                      this.flight = flight;
 992 //              }
 993 //      }
 994 //
 995 //      public void set_serial(int serial) {
 996 //              /* When the serial changes, reset the state */
 997 //              if (serial != AltosLib.MISSING) {
 998 //                      if (this.serial != AltosLib.MISSING &&
 999 //                          this.serial != serial) {
1000 //                              re_init();
1001 //                      }
1002 //                      this.serial = serial;
1003 //              }
1004 //      }
1005 //
1006 //      public void set_receiver_serial(int serial) {
1007 //              if (serial != AltosLib.MISSING)
1008 //                      receiver_serial = serial;
1009 //      }
1010
1011         public boolean altitude_32() {
1012                 return altitude_32 == 1;
1013         }
1014
1015         public void set_altitude_32(int altitude_32) {
1016                 if (altitude_32 != AltosLib.MISSING)
1017                         this.altitude_32 = altitude_32;
1018         }
1019
1020         public int rssi() {
1021                 if (rssi == AltosLib.MISSING)
1022                         return 0;
1023                 return rssi;
1024         }
1025
1026         public void set_rssi(int rssi, int status) {
1027                 if (rssi != AltosLib.MISSING) {
1028                         this.rssi = rssi;
1029                         this.status = status;
1030                 }
1031         }
1032
1033         public void set_received_time(long ms) {
1034                 received_time = ms;
1035         }
1036
1037         public void set_gps(AltosGPS gps) {
1038                 if (gps != null) {
1039                         this.gps = gps;
1040                         update_gps();
1041                         set |= set_gps;
1042                 }
1043         }
1044
1045
1046         public double   accel_zero_along;
1047         public double   accel_zero_across;
1048         public double   accel_zero_through;
1049
1050         public AltosRotation    rotation;
1051         public AltosRotation    ground_rotation;
1052
1053         public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
1054                 if (zero_along != AltosLib.MISSING) {
1055                         accel_zero_along = zero_along;
1056                         accel_zero_across = zero_across;
1057                         accel_zero_through = zero_through;
1058                 }
1059         }
1060
1061         public int pad_orientation;
1062
1063         public double   accel_ground_along, accel_ground_across, accel_ground_through;
1064
1065         void update_pad_rotation() {
1066                 if (pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
1067                         rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - accel_zero_across),
1068                                                      AltosIMU.convert_accel(accel_ground_through - accel_zero_through),
1069                                                      AltosIMU.convert_accel(accel_ground_along - accel_zero_along),
1070                                                      pad_orientation);
1071                         ground_rotation = rotation;
1072                         orient.set_computed(rotation.tilt(), time);
1073                 }
1074         }
1075
1076         public void set_accel_ground(double ground_along, double ground_across, double ground_through) {
1077                 accel_ground_along = ground_along;
1078                 accel_ground_across = ground_across;
1079                 accel_ground_through = ground_through;
1080                 update_pad_rotation();
1081         }
1082
1083         public void set_pad_orientation(int pad_orientation) {
1084                 this.pad_orientation = pad_orientation;
1085                 update_pad_rotation();
1086         }
1087
1088         public double   last_imu_time;
1089
1090         private double radians(double degrees) {
1091                 if (degrees == AltosLib.MISSING)
1092                         return AltosLib.MISSING;
1093                 return degrees * Math.PI / 180.0;
1094         }
1095
1096         private void update_orient() {
1097                 if (last_imu_time != AltosLib.MISSING) {
1098                         double  t = time - last_imu_time;
1099
1100                         double  pitch = radians(gyro_pitch());
1101                         double  yaw = radians(gyro_yaw());
1102                         double  roll = radians(gyro_roll());
1103
1104                         if (t > 0 & pitch != AltosLib.MISSING && rotation != null) {
1105                                 rotation.rotate(t, pitch, yaw, roll);
1106                                 orient.set_computed(rotation.tilt(), time);
1107                         }
1108                 }
1109                 last_imu_time = time;
1110         }
1111
1112         private double  gyro_roll, gyro_pitch, gyro_yaw;
1113
1114         public void set_gyro(double roll, double pitch, double yaw) {
1115                 gyro_roll = roll;
1116                 gyro_pitch = roll;
1117                 gyro_roll = roll;
1118                 update_orient();
1119         }
1120
1121         private double accel_along, accel_across, accel_through;
1122
1123         public void set_accel(double along, double across, double through) {
1124                 accel_along = along;
1125                 accel_across = across;
1126                 accel_through = through;
1127                 update_orient();
1128         }
1129
1130         public double accel_along() {
1131                 return accel_along;
1132         }
1133
1134         public double accel_across() {
1135                 return accel_across;
1136         }
1137
1138         public double accel_through() {
1139                 return accel_through;
1140         }
1141
1142         public double gyro_roll() {
1143                 return gyro_roll;
1144         }
1145
1146         public double gyro_pitch() {
1147                 return gyro_pitch;
1148         }
1149
1150         public double gyro_yaw() {
1151                 return gyro_yaw;
1152         }
1153
1154         private double mag_along, mag_across, mag_through;
1155
1156         public void set_mag(double along, double across, double through) {
1157                 mag_along = along;
1158                 mag_across = across;
1159                 mag_through = through;
1160         }
1161
1162         public double mag_along() {
1163                 return mag_along;
1164         }
1165
1166         public double mag_across() {
1167                 if (mag != null)
1168                         return AltosMag.convert_gauss(mag.across);
1169                 return AltosLib.MISSING;
1170         }
1171
1172         public double mag_through() {
1173                 if (mag != null)
1174                         return AltosMag.convert_gauss(mag.through);
1175                 return AltosLib.MISSING;
1176         }
1177
1178         public void set_companion(AltosCompanion companion) {
1179                 this.companion = companion;
1180         }
1181
1182         public void set_acceleration(double acceleration) {
1183                 if (acceleration != AltosLib.MISSING) {
1184                         this.acceleration.set_measured(acceleration, time);
1185                         set |= set_data;
1186                 }
1187         }
1188
1189         public void set_temperature(double temperature) {
1190                 if (temperature != AltosLib.MISSING) {
1191                         this.temperature = temperature;
1192                         set |= set_data;
1193                 }
1194         }
1195
1196         public void set_battery_voltage(double battery_voltage) {
1197                 if (battery_voltage != AltosLib.MISSING) {
1198                         this.battery_voltage = battery_voltage;
1199                         set |= set_data;
1200                 }
1201         }
1202
1203         public void set_pyro_voltage(double pyro_voltage) {
1204                 if (pyro_voltage != AltosLib.MISSING) {
1205                         this.pyro_voltage = pyro_voltage;
1206                         set |= set_data;
1207                 }
1208         }
1209
1210         public void set_apogee_voltage(double apogee_voltage) {
1211                 if (apogee_voltage != AltosLib.MISSING) {
1212                         this.apogee_voltage = apogee_voltage;
1213                         set |= set_data;
1214                 }
1215         }
1216
1217         public void set_main_voltage(double main_voltage) {
1218                 if (main_voltage != AltosLib.MISSING) {
1219                         this.main_voltage = main_voltage;
1220                         set |= set_data;
1221                 }
1222         }
1223
1224         public void set_ignitor_voltage(double[] voltage) {
1225                 this.ignitor_voltage = voltage;
1226         }
1227
1228         public void set_pyro_fired(int fired) {
1229                 this.pyro_fired = fired;
1230         }
1231
1232         public AltosState (AltosCalData cal_data) {
1233                 super(cal_data);
1234                 init();
1235         }
1236 }