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; 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_6;
  23
  24 import java.io.*;
  25
  26 public class AltosState implements Cloneable, Serializable {
  27
  28         public static final int set_position = 1;
  29         public static final int set_gps = 2;
  30         public static final int set_data = 4;
  31
  32         public int set;
  33
  34         static final double ascent_filter_len = 0.5;
  35         static final double descent_filter_len = 0.5;
  36
  37         /* derived data */
  38
  39         public long     received_time;
  40
  41         public double   time;
  42         public double   prev_time;
  43         public double   time_change;
  44         public int      tick;
  45         private int     prev_tick;
  46         public int      boost_tick;
  47
  48         class AltosValue implements Serializable{
  49                 double  value;
  50                 double  prev_value;
  51                 private double  max_value;
  52                 private double  set_time;
  53                 private double  prev_set_time;
  54
  55                 boolean can_max() { return true; }
  56
  57                 void set(double new_value, double time) {
  58                         if (new_value != AltosLib.MISSING) {
  59                                 value = new_value;
  60                                 if (can_max() && (max_value == AltosLib.MISSING || value > max_value))
  61                                         max_value = value;
  62                                 set_time = time;
  63                         }
  64                 }
  65
  66                 void set_filtered(double new_value, double time) {
  67                         if (prev_value != AltosLib.MISSING)
  68                                 new_value = (prev_value * 15.0 + new_value) / 16.0;
  69                         set(new_value, time);
  70                 }
  71
  72                 double value() {
  73                         return value;
  74                 }
  75
  76                 double max() {
  77                         return max_value;
  78                 }
  79
  80                 double prev() {
  81                         return prev_value;
  82                 }
  83
  84                 double change() {
  85                         if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
  86                                 return value - prev_value;
  87                         return AltosLib.MISSING;
  88                 }
  89
  90                 double rate() {
  91                         double c = change();
  92                         double t = set_time - prev_set_time;
  93
  94                         if (c != AltosLib.MISSING && t != 0)
  95                                 return c / t;
  96                         return AltosLib.MISSING;
  97                 }
  98
  99                 double integrate() {
 100                         if (value == AltosLib.MISSING)
 101                                 return AltosLib.MISSING;
 102                         if (prev_value == AltosLib.MISSING)
 103                                 return AltosLib.MISSING;
 104
 105                         return (value + prev_value) / 2 * (set_time - prev_set_time);
 106                 }
 107
 108                 double time() {
 109                         return set_time;
 110                 }
 111
 112                 void set_derivative(AltosValue in) {
 113                         double  n = in.rate();
 114
 115                         if (n == AltosLib.MISSING)
 116                                 return;
 117
 118                         double  p = prev_value;
 119                         double  pt = prev_set_time;
 120
 121                         if (p == AltosLib.MISSING) {
 122                                 p = 0;
 123                                 pt = in.time() - 0.01;
 124                         }
 125
 126                         /* Clip changes to reduce noise */
 127                         double  ddt = in.time() - pt;
 128                         double  ddv = (n - p) / ddt;
 129
 130                         final double max = 100000;
 131
 132                         /* 100gs */
 133                         if (Math.abs(ddv) > max) {
 134                                 if (n > p)
 135                                         n = p + ddt * max;
 136                                 else
 137                                         n = p - ddt * max;
 138                         }
 139
 140                         double filter_len;
 141
 142                         if (ascent)
 143                                 filter_len = ascent_filter_len;
 144                         else
 145                                 filter_len = descent_filter_len;
 146
 147                         double f = 1/Math.exp(ddt/ filter_len);
 148                         n = p * f + n * (1-f);
 149
 150                         set(n, in.time());
 151                 }
 152
 153                 void set_integral(AltosValue in) {
 154                         double  change = in.integrate();
 155
 156                         if (change != AltosLib.MISSING) {
 157                                 double  prev = prev_value;
 158                                 if (prev == AltosLib.MISSING)
 159                                         prev = 0;
 160                                 set(prev + change, in.time());
 161                         }
 162                 }
 163
 164                 void copy(AltosValue old) {
 165                         value = old.value;
 166                         set_time = old.set_time;
 167                         prev_value = old.value;
 168                         prev_set_time = old.set_time;
 169                         max_value = old.max_value;
 170                 }
 171
 172                 void finish_update() {
 173                         prev_value = value;
 174                         prev_set_time = set_time;
 175                 }
 176
 177                 AltosValue() {
 178                         value = AltosLib.MISSING;
 179                         prev_value = AltosLib.MISSING;
 180                         max_value = AltosLib.MISSING;
 181                 }
 182         }
 183
 184         class AltosCValue implements Serializable {
 185
 186                 class AltosIValue extends AltosValue implements Serializable {
 187                         boolean can_max() {
 188                                 return c_can_max();
 189                         }
 190                 };
 191
 192                 public AltosIValue      measured;
 193                 public AltosIValue      computed;
 194
 195                 boolean can_max() { return true; }
 196
 197                 boolean c_can_max() { return can_max(); }
 198
 199                 double value() {
 200                         double v = measured.value();
 201                         if (v != AltosLib.MISSING)
 202                                 return v;
 203                         return computed.value();
 204                 }
 205
 206                 boolean is_measured() {
 207                         return measured.value() != AltosLib.MISSING;
 208                 }
 209
 210                 double max() {
 211                         double m = measured.max();
 212
 213                         if (m != AltosLib.MISSING)
 214                                 return m;
 215                         return computed.max();
 216                 }
 217
 218                 double prev_value() {
 219                         if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
 220                                 return measured.prev_value;
 221                         return computed.prev_value;
 222                 }
 223
 224                 AltosValue altos_value() {
 225                         if (measured.value() != AltosLib.MISSING)
 226                                 return measured;
 227                         return computed;
 228                 }
 229
 230                 double change() {
 231                         double c = measured.change();
 232                         if (c == AltosLib.MISSING)
 233                                 c = computed.change();
 234                         return c;
 235                 }
 236
 237                 double rate() {
 238                         double r = measured.rate();
 239                         if (r == AltosLib.MISSING)
 240                                 r = computed.rate();
 241                         return r;
 242                 }
 243
 244                 void set_measured(double new_value, double time) {
 245                         measured.set(new_value, time);
 246                 }
 247
 248                 void set_computed(double new_value, double time) {
 249                         computed.set(new_value, time);
 250                 }
 251
 252                 void set_derivative(AltosValue in) {
 253                         computed.set_derivative(in);
 254                 }
 255
 256                 void set_derivative(AltosCValue in) {
 257                         set_derivative(in.altos_value());
 258                 }
 259
 260                 void set_integral(AltosValue in) {
 261                         computed.set_integral(in);
 262                 }
 263
 264                 void set_integral(AltosCValue in) {
 265                         set_integral(in.altos_value());
 266                 }
 267
 268                 void copy(AltosCValue old) {
 269                         measured.copy(old.measured);
 270                         computed.copy(old.computed);
 271                 }
 272
 273                 void finish_update() {
 274                         measured.finish_update();
 275                         computed.finish_update();
 276                 }
 277
 278                 AltosCValue() {
 279                         measured = new AltosIValue();
 280                         computed = new AltosIValue();
 281                 }
 282         }
 283
 284         public int      state;
 285         public int      flight;
 286         public int      serial;
 287         public int      altitude_32;
 288         public int      receiver_serial;
 289         public boolean  landed;
 290         public boolean  ascent; /* going up? */
 291         public boolean  boost;  /* under power */
 292         public int      rssi;
 293         public int      status;
 294         public int      device_type;
 295         public int      config_major;
 296         public int      config_minor;
 297         public int      apogee_delay;
 298         public int      main_deploy;
 299         public int      flight_log_max;
 300
 301         private double pressure_to_altitude(double p) {
 302                 if (p == AltosLib.MISSING)
 303                         return AltosLib.MISSING;
 304                 return AltosConvert.pressure_to_altitude(p);
 305         }
 306
 307         private AltosCValue ground_altitude;
 308
 309         public double ground_altitude() {
 310                 return ground_altitude.value();
 311         }
 312
 313         public void set_ground_altitude(double a) {
 314                 ground_altitude.set_measured(a, time);
 315         }
 316
 317         class AltosGpsGroundAltitude extends AltosValue implements Serializable {
 318                 void set(double a, double t) {
 319                         super.set(a, t);
 320                         pad_alt = value();
 321                         gps_altitude.set_gps_height();
 322                 }
 323
 324                 void set_filtered(double a, double t) {
 325                         super.set_filtered(a, t);
 326                         pad_alt = value();
 327                         gps_altitude.set_gps_height();
 328                 }
 329         }
 330
 331         private AltosGpsGroundAltitude gps_ground_altitude;
 332
 333         public double gps_ground_altitude() {
 334                 return gps_ground_altitude.value();
 335         }
 336
 337         public void set_gps_ground_altitude(double a) {
 338                 gps_ground_altitude.set(a, time);
 339         }
 340
 341         class AltosGroundPressure extends AltosCValue implements Serializable {
 342                 void set_filtered(double p, double time) {
 343                         computed.set_filtered(p, time);
 344                         if (!is_measured())
 345                                 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
 346                 }
 347
 348                 void set_measured(double p, double time) {
 349                         super.set_measured(p, time);
 350                         ground_altitude.set_computed(pressure_to_altitude(p), time);
 351                 }
 352         }
 353
 354         private AltosGroundPressure ground_pressure;
 355
 356         public double ground_pressure() {
 357                 return ground_pressure.value();
 358         }
 359
 360         public void set_ground_pressure (double pressure) {
 361                 ground_pressure.set_measured(pressure, time);
 362         }
 363
 364         class AltosAltitude extends AltosCValue implements Serializable {
 365
 366                 private void set_speed(AltosValue v) {
 367                         if (!acceleration.is_measured() || !ascent)
 368                                 speed.set_derivative(this);
 369                 }
 370
 371                 void set_computed(double a, double time) {
 372                         super.set_computed(a,time);
 373                         set_speed(computed);
 374                         set |= set_position;
 375                 }
 376
 377                 void set_measured(double a, double time) {
 378                         super.set_measured(a,time);
 379                         set_speed(measured);
 380                         set |= set_position;
 381                 }
 382         }
 383
 384         private AltosAltitude   altitude;
 385
 386         class AltosGpsAltitude extends AltosValue implements Serializable {
 387
 388                 private void set_gps_height() {
 389                         double  a = value();
 390                         double  g = gps_ground_altitude.value();
 391
 392                         if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 393                                 gps_height = a - g;
 394                         else
 395                                 gps_height = AltosLib.MISSING;
 396                 }
 397
 398                 void set(double a, double t) {
 399                         super.set(a, t);
 400                         set_gps_height();
 401                 }
 402         }
 403
 404         private AltosGpsAltitude        gps_altitude;
 405
 406         private AltosValue              gps_ground_speed;
 407         private AltosValue              gps_ascent_rate;
 408         private AltosValue              gps_course;
 409         private AltosValue              gps_speed;
 410
 411         public double altitude() {
 412                 double a = altitude.value();
 413                 if (a != AltosLib.MISSING)
 414                         return a;
 415                 return gps_altitude.value();
 416         }
 417
 418         public double max_altitude() {
 419                 double a = altitude.max();
 420                 if (a != AltosLib.MISSING)
 421                         return a;
 422                 return gps_altitude.max();
 423         }
 424
 425         public void set_altitude(double new_altitude) {
 426                 altitude.set_measured(new_altitude, time);
 427         }
 428
 429         public double gps_altitude() {
 430                 return gps_altitude.value();
 431         }
 432
 433         public double max_gps_altitude() {
 434                 return gps_altitude.max();
 435         }
 436
 437         public void set_gps_altitude(double new_gps_altitude) {
 438                 gps_altitude.set(new_gps_altitude, time);
 439         }
 440
 441         public double gps_ground_speed() {
 442                 return gps_ground_speed.value();
 443         }
 444
 445         public double max_gps_ground_speed() {
 446                 return gps_ground_speed.max();
 447         }
 448
 449         public double gps_ascent_rate() {
 450                 return gps_ascent_rate.value();
 451         }
 452
 453         public double max_gps_ascent_rate() {
 454                 return gps_ascent_rate.max();
 455         }
 456
 457         public double gps_course() {
 458                 return gps_course.value();
 459         }
 460
 461         public double gps_speed() {
 462                 return gps_speed.value();
 463         }
 464
 465         public double max_gps_speed() {
 466                 return gps_speed.max();
 467         }
 468
 469         class AltosPressure extends AltosValue implements Serializable {
 470                 void set(double p, double time) {
 471                         super.set(p, time);
 472                         if (state == AltosLib.ao_flight_pad)
 473                                 ground_pressure.set_filtered(p, time);
 474                         double a = pressure_to_altitude(p);
 475                         altitude.set_computed(a, time);
 476                 }
 477         }
 478
 479         private AltosPressure   pressure;
 480
 481         public double pressure() {
 482                 return pressure.value();
 483         }
 484
 485         public void set_pressure(double p) {
 486                 pressure.set(p, time);
 487         }
 488
 489         public double baro_height() {
 490                 double a = altitude();
 491                 double g = ground_altitude();
 492                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 493                         return a - g;
 494                 return AltosLib.MISSING;
 495         }
 496
 497         public double height() {
 498                 double k = kalman_height.value();
 499                 if (k != AltosLib.MISSING)
 500                         return k;
 501
 502                 double b = baro_height();
 503                 if (b != AltosLib.MISSING)
 504                         return b;
 505
 506                 return gps_height();
 507         }
 508
 509         public double max_height() {
 510                 double  k = kalman_height.max();
 511                 if (k != AltosLib.MISSING)
 512                         return k;
 513
 514                 double a = altitude.max();
 515                 double g = ground_altitude();
 516                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 517                         return a - g;
 518                 return max_gps_height();
 519         }
 520
 521         public double gps_height() {
 522                 double a = gps_altitude();
 523                 double g = gps_ground_altitude();
 524
 525                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 526                         return a - g;
 527                 return AltosLib.MISSING;
 528         }
 529
 530         public double max_gps_height() {
 531                 double a = gps_altitude.max();
 532                 double g = gps_ground_altitude();
 533
 534                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 535                         return a - g;
 536                 return AltosLib.MISSING;
 537         }
 538
 539         class AltosSpeed extends AltosCValue implements Serializable {
 540
 541                 boolean can_max() {
 542                         return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
 543                 }
 544
 545                 void set_accel() {
 546                         acceleration.set_derivative(this);
 547                 }
 548
 549                 void set_derivative(AltosCValue in) {
 550                         super.set_derivative(in);
 551                         set_accel();
 552                 }
 553
 554                 void set_computed(double new_value, double time) {
 555                         super.set_computed(new_value, time);
 556                         set_accel();
 557                 }
 558
 559                 void set_measured(double new_value, double time) {
 560                         super.set_measured(new_value, time);
 561                         set_accel();
 562                 }
 563         }
 564
 565         private AltosSpeed speed;
 566
 567         public double speed() {
 568                 double v = kalman_speed.value();
 569                 if (v != AltosLib.MISSING)
 570                         return v;
 571                 v = speed.value();
 572                 if (v != AltosLib.MISSING)
 573                         return v;
 574                 v = gps_speed();
 575                 if (v != AltosLib.MISSING)
 576                         return v;
 577                 return AltosLib.MISSING;
 578         }
 579
 580         public double max_speed() {
 581                 double v = kalman_speed.max();
 582                 if (v != AltosLib.MISSING)
 583                         return v;
 584                 v = speed.max();
 585                 if (v != AltosLib.MISSING)
 586                         return v;
 587                 v = max_gps_speed();
 588                 if (v != AltosLib.MISSING)
 589                         return v;
 590                 return AltosLib.MISSING;
 591         }
 592
 593         class AltosAccel extends AltosCValue implements Serializable {
 594
 595                 boolean can_max() {
 596                         return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
 597                 }
 598
 599                 void set_measured(double a, double time) {
 600                         super.set_measured(a, time);
 601                         if (ascent)
 602                                 speed.set_integral(this.measured);
 603                 }
 604         }
 605
 606         AltosAccel acceleration;
 607
 608         public double acceleration() {
 609                 return acceleration.value();
 610         }
 611
 612         public double max_acceleration() {
 613                 return acceleration.max();
 614         }
 615
 616         public AltosCValue      orient;
 617
 618         public void set_orient(double new_orient) {
 619                 orient.set_measured(new_orient, time);
 620         }
 621
 622         public double orient() {
 623                 return orient.value();
 624         }
 625
 626         public double max_orient() {
 627                 return orient.max();
 628         }
 629
 630         public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 631
 632         public void set_kalman(double height, double speed, double acceleration) {
 633                 kalman_height.set(height, time);
 634                 kalman_speed.set(speed, time);
 635                 kalman_acceleration.set(acceleration, time);
 636         }
 637
 638         public double   battery_voltage;
 639         public double   pyro_voltage;
 640         public double   temperature;
 641         public double   apogee_voltage;
 642         public double   main_voltage;
 643
 644         public double   ignitor_voltage[];
 645
 646         public AltosGPS gps;
 647         public AltosGPS temp_gps;
 648         public int temp_gps_sat_tick;
 649         public boolean  gps_pending;
 650         public int gps_sequence;
 651
 652         public AltosIMU imu;
 653         public AltosMag mag;
 654
 655         public static final int MIN_PAD_SAMPLES = 10;
 656
 657         public int      npad;
 658         public int      gps_waiting;
 659         public boolean  gps_ready;
 660
 661         public int      ngps;
 662
 663         public AltosGreatCircle from_pad;
 664         public double   elevation;      /* from pad */
 665         public double   range;          /* total distance */
 666
 667         public double   gps_height;
 668
 669         public double pad_lat, pad_lon, pad_alt;
 670
 671         public int      speak_tick;
 672         public double   speak_altitude;
 673
 674         public String   callsign;
 675         public String   firmware_version;
 676
 677         public double   accel_plus_g;
 678         public double   accel_minus_g;
 679         public double   accel;
 680         public double   ground_accel;
 681         public double   ground_accel_avg;
 682
 683         public int      log_format;
 684         public String   product;
 685
 686         public AltosMs5607      baro;
 687
 688         public AltosCompanion   companion;
 689
 690         public int      pyro_fired;
 691
 692         public void set_npad(int npad) {
 693                 this.npad = npad;
 694                 gps_waiting = MIN_PAD_SAMPLES - npad;
 695                 if (this.gps_waiting < 0)
 696                         gps_waiting = 0;
 697                 gps_ready = gps_waiting == 0;
 698         }
 699
 700         public void init() {
 701                 set = 0;
 702
 703                 received_time = System.currentTimeMillis();
 704                 time = AltosLib.MISSING;
 705                 time_change = AltosLib.MISSING;
 706                 prev_time = AltosLib.MISSING;
 707                 tick = AltosLib.MISSING;
 708                 prev_tick = AltosLib.MISSING;
 709                 boost_tick = AltosLib.MISSING;
 710                 state = AltosLib.ao_flight_invalid;
 711                 flight = AltosLib.MISSING;
 712                 landed = false;
 713                 boost = false;
 714                 rssi = AltosLib.MISSING;
 715                 status = 0;
 716                 device_type = AltosLib.MISSING;
 717                 config_major = AltosLib.MISSING;
 718                 config_minor = AltosLib.MISSING;
 719                 apogee_delay = AltosLib.MISSING;
 720                 main_deploy = AltosLib.MISSING;
 721                 flight_log_max = AltosLib.MISSING;
 722
 723                 ground_altitude = new AltosCValue();
 724                 ground_pressure = new AltosGroundPressure();
 725                 altitude = new AltosAltitude();
 726                 pressure = new AltosPressure();
 727                 speed = new AltosSpeed();
 728                 acceleration = new AltosAccel();
 729                 orient = new AltosCValue();
 730
 731                 temperature = AltosLib.MISSING;
 732                 battery_voltage = AltosLib.MISSING;
 733                 pyro_voltage = AltosLib.MISSING;
 734                 apogee_voltage = AltosLib.MISSING;
 735                 main_voltage = AltosLib.MISSING;
 736                 ignitor_voltage = null;
 737
 738                 kalman_height = new AltosValue();
 739                 kalman_speed = new AltosValue();
 740                 kalman_acceleration = new AltosValue();
 741
 742                 gps = null;
 743                 temp_gps = null;
 744                 temp_gps_sat_tick = 0;
 745                 gps_sequence = 0;
 746                 gps_pending = false;
 747
 748                 imu = null;
 749                 last_imu_time = AltosLib.MISSING;
 750                 rotation = null;
 751                 ground_rotation = null;
 752
 753                 mag = null;
 754                 accel_zero_along = AltosLib.MISSING;
 755                 accel_zero_across = AltosLib.MISSING;
 756                 accel_zero_through = AltosLib.MISSING;
 757
 758                 accel_ground_along = AltosLib.MISSING;
 759                 accel_ground_across = AltosLib.MISSING;
 760                 accel_ground_through = AltosLib.MISSING;
 761
 762                 pad_orientation = AltosLib.MISSING;
 763
 764                 gyro_zero_roll = AltosLib.MISSING;
 765                 gyro_zero_pitch = AltosLib.MISSING;
 766                 gyro_zero_yaw = AltosLib.MISSING;
 767
 768                 set_npad(0);
 769                 ngps = 0;
 770
 771                 from_pad = null;
 772                 elevation = AltosLib.MISSING;
 773                 range = AltosLib.MISSING;
 774                 gps_height = AltosLib.MISSING;
 775
 776                 pad_lat = AltosLib.MISSING;
 777                 pad_lon = AltosLib.MISSING;
 778                 pad_alt = AltosLib.MISSING;
 779
 780                 gps_altitude = new AltosGpsAltitude();
 781                 gps_ground_altitude = new AltosGpsGroundAltitude();
 782                 gps_ground_speed = new AltosValue();
 783                 gps_speed = new AltosValue();
 784                 gps_ascent_rate = new AltosValue();
 785                 gps_course = new AltosValue();
 786
 787                 speak_tick = AltosLib.MISSING;
 788                 speak_altitude = AltosLib.MISSING;
 789
 790                 callsign = null;
 791                 firmware_version = null;
 792
 793                 accel_plus_g = AltosLib.MISSING;
 794                 accel_minus_g = AltosLib.MISSING;
 795                 accel = AltosLib.MISSING;
 796
 797                 ground_accel = AltosLib.MISSING;
 798                 ground_accel_avg = AltosLib.MISSING;
 799
 800                 log_format = AltosLib.MISSING;
 801                 product = null;
 802                 serial = AltosLib.MISSING;
 803                 receiver_serial = AltosLib.MISSING;
 804                 altitude_32 = AltosLib.MISSING;
 805
 806                 baro = null;
 807                 companion = null;
 808
 809                 pyro_fired = 0;
 810         }
 811
 812         void finish_update() {
 813                 prev_tick = tick;
 814
 815                 ground_altitude.finish_update();
 816                 altitude.finish_update();
 817                 pressure.finish_update();
 818                 speed.finish_update();
 819                 acceleration.finish_update();
 820                 orient.finish_update();
 821
 822                 kalman_height.finish_update();
 823                 kalman_speed.finish_update();
 824                 kalman_acceleration.finish_update();
 825         }
 826
 827         void copy(AltosState old) {
 828
 829                 if (old == null) {
 830                         init();
 831                         return;
 832                 }
 833
 834                 received_time = old.received_time;
 835                 time = old.time;
 836                 time_change = old.time_change;
 837                 prev_time = old.time;
 838
 839                 tick = old.tick;
 840                 prev_tick = old.tick;
 841                 boost_tick = old.boost_tick;
 842
 843                 state = old.state;
 844                 flight = old.flight;
 845                 landed = old.landed;
 846                 ascent = old.ascent;
 847                 boost = old.boost;
 848                 rssi = old.rssi;
 849                 status = old.status;
 850                 device_type = old.device_type;
 851                 config_major = old.config_major;
 852                 config_minor = old.config_minor;
 853                 apogee_delay = old.apogee_delay;
 854                 main_deploy = old.main_deploy;
 855                 flight_log_max = old.flight_log_max;
 856
 857                 set = 0;
 858
 859                 ground_pressure.copy(old.ground_pressure);
 860                 ground_altitude.copy(old.ground_altitude);
 861                 altitude.copy(old.altitude);
 862                 pressure.copy(old.pressure);
 863                 speed.copy(old.speed);
 864                 acceleration.copy(old.acceleration);
 865                 orient.copy(old.orient);
 866
 867                 battery_voltage = old.battery_voltage;
 868                 pyro_voltage = old.pyro_voltage;
 869                 temperature = old.temperature;
 870                 apogee_voltage = old.apogee_voltage;
 871                 main_voltage = old.main_voltage;
 872                 ignitor_voltage = old.ignitor_voltage;
 873
 874                 kalman_height.copy(old.kalman_height);
 875                 kalman_speed.copy(old.kalman_speed);
 876                 kalman_acceleration.copy(old.kalman_acceleration);
 877
 878                 if (old.gps != null)
 879                         gps = old.gps.clone();
 880                 else
 881                         gps = null;
 882                 if (old.temp_gps != null)
 883                         temp_gps = old.temp_gps.clone();
 884                 else
 885                         temp_gps = null;
 886                 temp_gps_sat_tick = old.temp_gps_sat_tick;
 887                 gps_sequence = old.gps_sequence;
 888                 gps_pending = old.gps_pending;
 889
 890                 if (old.imu != null)
 891                         imu = old.imu.clone();
 892                 else
 893                         imu = null;
 894                 last_imu_time = old.last_imu_time;
 895
 896                 if (old.rotation != null)
 897                         rotation = new AltosRotation (old.rotation);
 898
 899                 if (old.ground_rotation != null) {
 900                         ground_rotation = new AltosRotation(old.ground_rotation);
 901                 }
 902
 903                 accel_zero_along = old.accel_zero_along;
 904                 accel_zero_across = old.accel_zero_across;
 905                 accel_zero_through = old.accel_zero_through;
 906
 907                 accel_ground_along = old.accel_ground_along;
 908                 accel_ground_across = old.accel_ground_across;
 909                 accel_ground_through = old.accel_ground_through;
 910                 pad_orientation = old.pad_orientation;
 911
 912                 gyro_zero_roll = old.gyro_zero_roll;
 913                 gyro_zero_pitch = old.gyro_zero_pitch;
 914                 gyro_zero_yaw = old.gyro_zero_yaw;
 915
 916                 if (old.mag != null)
 917                         mag = old.mag.clone();
 918                 else
 919                         mag = null;
 920
 921                 npad = old.npad;
 922                 gps_waiting = old.gps_waiting;
 923                 gps_ready = old.gps_ready;
 924                 ngps = old.ngps;
 925
 926                 if (old.from_pad != null)
 927                         from_pad = old.from_pad.clone();
 928                 else
 929                         from_pad = null;
 930
 931                 elevation = old.elevation;
 932                 range = old.range;
 933
 934                 gps_height = old.gps_height;
 935
 936                 gps_altitude.copy(old.gps_altitude);
 937                 gps_ground_altitude.copy(old.gps_ground_altitude);
 938                 gps_ground_speed.copy(old.gps_ground_speed);
 939                 gps_ascent_rate.copy(old.gps_ascent_rate);
 940                 gps_course.copy(old.gps_course);
 941                 gps_speed.copy(old.gps_speed);
 942
 943                 pad_lat = old.pad_lat;
 944                 pad_lon = old.pad_lon;
 945                 pad_alt = old.pad_alt;
 946
 947                 speak_tick = old.speak_tick;
 948                 speak_altitude = old.speak_altitude;
 949
 950                 callsign = old.callsign;
 951                 firmware_version = old.firmware_version;
 952
 953                 accel_plus_g = old.accel_plus_g;
 954                 accel_minus_g = old.accel_minus_g;
 955                 accel = old.accel;
 956                 ground_accel = old.ground_accel;
 957                 ground_accel_avg = old.ground_accel_avg;
 958
 959                 log_format = old.log_format;
 960                 product = old.product;
 961                 serial = old.serial;
 962                 receiver_serial = old.receiver_serial;
 963                 altitude_32 = old.altitude_32;
 964
 965                 baro = old.baro;
 966                 companion = old.companion;
 967
 968                 pyro_fired = old.pyro_fired;
 969         }
 970
 971         void update_time() {
 972         }
 973
 974         void update_gps() {
 975                 elevation = AltosLib.MISSING;
 976                 range = AltosLib.MISSING;
 977
 978                 if (gps == null)
 979                         return;
 980
 981                 if (gps.locked && gps.nsat >= 4) {
 982                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 983                         if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) {
 984                                 set_npad(npad+1);
 985                                 if (pad_lat != AltosLib.MISSING && (npad < 10 || state == AltosLib.ao_flight_pad)) {
 986                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
 987                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
 988                                         gps_ground_altitude.set_filtered(gps.alt, time);
 989                                 }
 990                         }
 991                         if (pad_lat == AltosLib.MISSING) {
 992                                 pad_lat = gps.lat;
 993                                 pad_lon = gps.lon;
 994                                 gps_ground_altitude.set(gps.alt, time);
 995                         }
 996                         gps_altitude.set(gps.alt, time);
 997                         if (gps.climb_rate != AltosLib.MISSING)
 998                                 gps_ascent_rate.set(gps.climb_rate, time);
 999                         if (gps.ground_speed != AltosLib.MISSING)
1000                                 gps_ground_speed.set(gps.ground_speed, time);
1001                         if (gps.climb_rate != AltosLib.MISSING && gps.ground_speed != AltosLib.MISSING)
1002                                 gps_speed.set(Math.sqrt(gps.ground_speed * gps.ground_speed +
1003                                                         gps.climb_rate * gps.climb_rate), time);
1004                         if (gps.course != AltosLib.MISSING)
1005                                 gps_course.set(gps.course, time);
1006                 }
1007                 if (gps.lat != 0 && gps.lon != 0 &&
1008                     pad_lat != AltosLib.MISSING &&
1009                     pad_lon != AltosLib.MISSING)
1010                 {
1011                         double h = height();
1012
1013                         if (h == AltosLib.MISSING)
1014                                 h = 0;
1015                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
1016                         elevation = from_pad.elevation;
1017                         range = from_pad.range;
1018                 }
1019         }
1020
1021         public void set_tick(int new_tick) {
1022                 if (new_tick != AltosLib.MISSING) {
1023                         if (prev_tick != AltosLib.MISSING) {
1024                                 while (new_tick < prev_tick - 1000) {
1025                                         new_tick += 65536;
1026                                 }
1027                         }
1028                         tick = new_tick;
1029                         time = tick / 100.0;
1030                         time_change = time - prev_time;
1031                 }
1032         }
1033
1034         public void set_boost_tick(int boost_tick) {
1035                 if (boost_tick != AltosLib.MISSING)
1036                         this.boost_tick = boost_tick;
1037         }
1038
1039         public String state_name() {
1040                 return AltosLib.state_name(state);
1041         }
1042
1043         public void set_state(int state) {
1044                 if (state != AltosLib.ao_flight_invalid) {
1045                         this.state = state;
1046                         ascent = (AltosLib.ao_flight_boost <= state &&
1047                                   state <= AltosLib.ao_flight_coast);
1048                         boost = (AltosLib.ao_flight_boost == state);
1049                 }
1050         }
1051
1052         public void set_device_type(int device_type) {
1053                 this.device_type = device_type;
1054                 switch (device_type) {
1055                 case AltosLib.product_telegps:
1056                         this.state = AltosLib.ao_flight_stateless;
1057                         break;
1058                 }
1059         }
1060
1061         public void set_log_format(int log_format) {
1062                 this.log_format = log_format;
1063                 switch (log_format) {
1064                 case AltosLib.AO_LOG_FORMAT_TELEGPS:
1065                         this.state = AltosLib.ao_flight_stateless;
1066                         break;
1067                 }
1068         }
1069
1070         public void set_flight_params(int apogee_delay, int main_deploy) {
1071                 this.apogee_delay = apogee_delay;
1072                 this.main_deploy = main_deploy;
1073         }
1074
1075         public void set_config(int major, int minor, int flight_log_max) {
1076                 config_major = major;
1077                 config_minor = minor;
1078                 this.flight_log_max = flight_log_max;
1079         }
1080
1081         public void set_callsign(String callsign) {
1082                 this.callsign = callsign;
1083         }
1084
1085         public void set_firmware_version(String version) {
1086                 firmware_version = version;
1087         }
1088
1089         public int compare_version(String other_version) {
1090                 if (firmware_version == null)
1091                         return AltosLib.MISSING;
1092                 return AltosLib.compare_version(firmware_version, other_version);
1093         }
1094
1095         private void re_init() {
1096                 int bt = boost_tick;
1097                 int rs = receiver_serial;
1098                 init();
1099                 boost_tick = bt;
1100                 receiver_serial = rs;
1101         }
1102
1103         public void set_flight(int flight) {
1104
1105                 /* When the flight changes, reset the state */
1106                 if (flight != AltosLib.MISSING) {
1107                         if (this.flight != AltosLib.MISSING &&
1108                             this.flight != flight) {
1109                                 re_init();
1110                         }
1111                         this.flight = flight;
1112                 }
1113         }
1114
1115         public void set_serial(int serial) {
1116                 /* When the serial changes, reset the state */
1117                 if (serial != AltosLib.MISSING) {
1118                         if (this.serial != AltosLib.MISSING &&
1119                             this.serial != serial) {
1120                                 re_init();
1121                         }
1122                         this.serial = serial;
1123                 }
1124         }
1125
1126         public void set_receiver_serial(int serial) {
1127                 if (serial != AltosLib.MISSING)
1128                         receiver_serial = serial;
1129         }
1130
1131         public boolean altitude_32() {
1132                 return altitude_32 == 1;
1133         }
1134
1135         public void set_altitude_32(int altitude_32) {
1136                 if (altitude_32 != AltosLib.MISSING)
1137                         this.altitude_32 = altitude_32;
1138         }
1139
1140         public int rssi() {
1141                 if (rssi == AltosLib.MISSING)
1142                         return 0;
1143                 return rssi;
1144         }
1145
1146         public void set_rssi(int rssi, int status) {
1147                 if (rssi != AltosLib.MISSING) {
1148                         this.rssi = rssi;
1149                         this.status = status;
1150                 }
1151         }
1152
1153         public void set_received_time(long ms) {
1154                 received_time = ms;
1155         }
1156
1157         public void set_gps(AltosGPS gps, int sequence) {
1158                 if (gps != null) {
1159                         this.gps = gps.clone();
1160                         gps_sequence = sequence;
1161                         update_gps();
1162                         set |= set_gps;
1163                 }
1164         }
1165
1166
1167         public double   accel_zero_along;
1168         public double   accel_zero_across;
1169         public double   accel_zero_through;
1170
1171         public AltosRotation    rotation;
1172         public AltosRotation    ground_rotation;
1173
1174         public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
1175                 if (zero_along != AltosLib.MISSING) {
1176                         accel_zero_along = zero_along;
1177                         accel_zero_across = zero_across;
1178                         accel_zero_through = zero_through;
1179                 }
1180         }
1181
1182         public int pad_orientation;
1183
1184         public double   accel_ground_along, accel_ground_across, accel_ground_through;
1185
1186         void update_pad_rotation() {
1187                 if (pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
1188                         rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - accel_zero_across),
1189                                                      AltosIMU.convert_accel(accel_ground_through - accel_zero_through),
1190                                                      AltosIMU.convert_accel(accel_ground_along - accel_zero_along),
1191                                                      pad_orientation);
1192                         ground_rotation = rotation;
1193                         orient.set_computed(rotation.tilt(), time);
1194                 }
1195         }
1196
1197         public void set_accel_ground(double ground_along, double ground_across, double ground_through) {
1198                 accel_ground_along = ground_along;
1199                 accel_ground_across = ground_across;
1200                 accel_ground_through = ground_through;
1201                 update_pad_rotation();
1202         }
1203
1204         public void set_pad_orientation(int pad_orientation) {
1205                 this.pad_orientation = pad_orientation;
1206                 update_pad_rotation();
1207         }
1208
1209         public double   gyro_zero_roll;
1210         public double   gyro_zero_pitch;
1211         public double   gyro_zero_yaw;
1212
1213         public void set_gyro_zero(double roll, double pitch, double yaw) {
1214                 if (roll != AltosLib.MISSING) {
1215                         gyro_zero_roll = roll;
1216                         gyro_zero_pitch = pitch;
1217                         gyro_zero_yaw = yaw;
1218                 }
1219         }
1220
1221         public double   last_imu_time;
1222
1223         private double radians(double degrees) {
1224                 if (degrees == AltosLib.MISSING)
1225                         return AltosLib.MISSING;
1226                 return degrees * Math.PI / 180.0;
1227         }
1228
1229         private void update_orient() {
1230                 if (last_imu_time != AltosLib.MISSING) {
1231                         double  t = time - last_imu_time;
1232
1233                         double  pitch = radians(gyro_pitch());
1234                         double  yaw = radians(gyro_yaw());
1235                         double  roll = radians(gyro_roll());
1236
1237                         if (t > 0 & pitch != AltosLib.MISSING && rotation != null) {
1238                                 rotation.rotate(t, pitch, yaw, roll);
1239                                 orient.set_computed(rotation.tilt(), time);
1240                         }
1241                 }
1242                 last_imu_time = time;
1243         }
1244
1245         public void set_imu(AltosIMU imu) {
1246                 if (imu != null)
1247                         imu = imu.clone();
1248                 this.imu = imu;
1249                 update_orient();
1250         }
1251
1252         private double gyro_zero_overflow(double first) {
1253                 double v = first / 128.0;
1254                 if (v < 0)
1255                         v = Math.ceil(v);
1256                 else
1257                         v = Math.floor(v);
1258                 return v * 128.0;
1259         }
1260
1261         public void check_imu_wrap(AltosIMU imu) {
1262                 if (this.imu == null) {
1263                         gyro_zero_roll += gyro_zero_overflow(imu.gyro_roll);
1264                         gyro_zero_pitch += gyro_zero_overflow(imu.gyro_pitch);
1265                         gyro_zero_yaw += gyro_zero_overflow(imu.gyro_yaw);
1266                 }
1267         }
1268
1269         public double accel_along() {
1270                 if (imu != null && accel_zero_along != AltosLib.MISSING)
1271                         return AltosIMU.convert_accel(imu.accel_along - accel_zero_along);
1272                 return AltosLib.MISSING;
1273         }
1274
1275         public double accel_across() {
1276                 if (imu != null && accel_zero_across != AltosLib.MISSING)
1277                         return AltosIMU.convert_accel(imu.accel_across - accel_zero_across);
1278                 return AltosLib.MISSING;
1279         }
1280
1281         public double accel_through() {
1282                 if (imu != null && accel_zero_through != AltosLib.MISSING)
1283                         return AltosIMU.convert_accel(imu.accel_through - accel_zero_through);
1284                 return AltosLib.MISSING;
1285         }
1286
1287         public double gyro_roll() {
1288                 if (imu != null && gyro_zero_roll != AltosLib.MISSING) {
1289                         return AltosIMU.convert_gyro(imu.gyro_roll - gyro_zero_roll);
1290                 }
1291                 return AltosLib.MISSING;
1292         }
1293
1294         public double gyro_pitch() {
1295                 if (imu != null && gyro_zero_pitch != AltosLib.MISSING) {
1296                         return AltosIMU.convert_gyro(imu.gyro_pitch - gyro_zero_pitch);
1297                 }
1298                 return AltosLib.MISSING;
1299         }
1300
1301         public double gyro_yaw() {
1302                 if (imu != null && gyro_zero_yaw != AltosLib.MISSING) {
1303                         return AltosIMU.convert_gyro(imu.gyro_yaw - gyro_zero_yaw);
1304                 }
1305                 return AltosLib.MISSING;
1306         }
1307
1308         public void set_mag(AltosMag mag) {
1309                 this.mag = mag.clone();
1310         }
1311
1312         public double mag_along() {
1313                 if (mag != null)
1314                         return AltosMag.convert_gauss(mag.along);
1315                 return AltosLib.MISSING;
1316         }
1317
1318         public double mag_across() {
1319                 if (mag != null)
1320                         return AltosMag.convert_gauss(mag.across);
1321                 return AltosLib.MISSING;
1322         }
1323
1324         public double mag_through() {
1325                 if (mag != null)
1326                         return AltosMag.convert_gauss(mag.through);
1327                 return AltosLib.MISSING;
1328         }
1329
1330         public AltosMs5607 make_baro() {
1331                 if (baro == null)
1332                         baro = new AltosMs5607();
1333                 return baro;
1334         }
1335
1336         public void set_ms5607(AltosMs5607 ms5607) {
1337                 baro = ms5607;
1338
1339                 if (baro != null) {
1340                         set_pressure(baro.pa);
1341                         set_temperature(baro.cc / 100.0);
1342                 }
1343         }
1344
1345         public void set_ms5607(int pres, int temp) {
1346                 if (baro != null) {
1347                         baro.set(pres, temp);
1348
1349                         set_pressure(baro.pa);
1350                         set_temperature(baro.cc / 100.0);
1351                 }
1352         }
1353
1354         public void make_companion (int nchannels) {
1355                 if (companion == null)
1356                         companion = new AltosCompanion(nchannels);
1357         }
1358
1359         public void set_companion(AltosCompanion companion) {
1360                 this.companion = companion;
1361         }
1362
1363         void update_accel() {
1364                 if (accel == AltosLib.MISSING)
1365                         return;
1366                 if (accel_plus_g == AltosLib.MISSING)
1367                         return;
1368                 if (accel_minus_g == AltosLib.MISSING)
1369                         return;
1370
1371                 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
1372                 double counts_per_mss = counts_per_g / 9.80665;
1373                 acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
1374         }
1375
1376         public void set_accel_g(double accel_plus_g, double accel_minus_g) {
1377                 if (accel_plus_g != AltosLib.MISSING) {
1378                         this.accel_plus_g = accel_plus_g;
1379                         this.accel_minus_g = accel_minus_g;
1380                         update_accel();
1381                 }
1382         }
1383
1384         public void set_ground_accel(double ground_accel) {
1385                 if (ground_accel != AltosLib.MISSING)
1386                         this.ground_accel = ground_accel;
1387         }
1388
1389         public void set_accel(double accel) {
1390                 if (accel != AltosLib.MISSING) {
1391                         this.accel = accel;
1392                         if (state == AltosLib.ao_flight_pad) {
1393                                 if (ground_accel_avg == AltosLib.MISSING)
1394                                         ground_accel_avg = accel;
1395                                 else
1396                                         ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
1397                         }
1398                 }
1399                 update_accel();
1400         }
1401
1402         public void set_temperature(double temperature) {
1403                 if (temperature != AltosLib.MISSING) {
1404                         this.temperature = temperature;
1405                         set |= set_data;
1406                 }
1407         }
1408
1409         public void set_battery_voltage(double battery_voltage) {
1410                 if (battery_voltage != AltosLib.MISSING) {
1411                         this.battery_voltage = battery_voltage;
1412                         set |= set_data;
1413                 }
1414         }
1415
1416         public void set_pyro_voltage(double pyro_voltage) {
1417                 if (pyro_voltage != AltosLib.MISSING) {
1418                         this.pyro_voltage = pyro_voltage;
1419                         set |= set_data;
1420                 }
1421         }
1422
1423         public void set_apogee_voltage(double apogee_voltage) {
1424                 if (apogee_voltage != AltosLib.MISSING) {
1425                         this.apogee_voltage = apogee_voltage;
1426                         set |= set_data;
1427                 }
1428         }
1429
1430         public void set_main_voltage(double main_voltage) {
1431                 if (main_voltage != AltosLib.MISSING) {
1432                         this.main_voltage = main_voltage;
1433                         set |= set_data;
1434                 }
1435         }
1436
1437         public void set_ignitor_voltage(double[] voltage) {
1438                 this.ignitor_voltage = voltage;
1439         }
1440
1441         public void set_pyro_fired(int fired) {
1442                 this.pyro_fired = fired;
1443         }
1444
1445         public double time_since_boost() {
1446                 if (tick == AltosLib.MISSING)
1447                         return 0.0;
1448
1449                 if (boost_tick == AltosLib.MISSING)
1450                         return tick / 100.0;
1451                 return (tick - boost_tick) / 100.0;
1452         }
1453
1454         public boolean valid() {
1455                 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1456         }
1457
1458         public AltosGPS make_temp_gps(boolean sats) {
1459                 if (temp_gps == null) {
1460                         temp_gps = new AltosGPS(gps);
1461                 }
1462                 gps_pending = true;
1463                 if (sats) {
1464                         if (tick != temp_gps_sat_tick)
1465                                 temp_gps.cc_gps_sat = null;
1466                         temp_gps_sat_tick = tick;
1467                 }
1468                 return temp_gps;
1469         }
1470
1471         public void set_temp_gps() {
1472                 set_gps(temp_gps, gps_sequence + 1);
1473                 gps_pending = false;
1474                 temp_gps = null;
1475         }
1476
1477         public AltosState clone() {
1478                 AltosState s = new AltosState();
1479                 s.copy(this);
1480                 return s;
1481         }
1482
1483         public AltosState () {
1484                 init();
1485         }
1486 }