2 * Copyright © 2010 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
19 * Track flight state from telemetry or eeprom data stream
22 package org.altusmetrum.altoslib_2;
24 public class AltosState implements Cloneable {
26 public static final int set_position = 1;
27 public static final int set_gps = 2;
28 public static final int set_data = 4;
32 static final double ascent_filter_len = 0.1;
33 static final double descent_filter_len = 2.0;
37 public long received_time;
40 public double prev_time;
41 public double time_change;
43 private int prev_tick;
44 public int boost_tick;
48 private double prev_value;
49 private double max_value;
50 private double set_time;
51 private double prev_set_time;
52 private double max_rate = 1000.0;
54 void set(double new_value, double time) {
55 if (new_value != AltosLib.MISSING) {
57 if (max_value == AltosLib.MISSING || value > max_value) {
64 void set_filtered(double new_value, double time) {
65 if (prev_value != AltosLib.MISSING)
66 new_value = (prev_value * 15.0 + new_value) / 16.0;
83 if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
84 return value - prev_value;
85 return AltosLib.MISSING;
90 double t = set_time - prev_set_time;
92 if (c != AltosLib.MISSING && t != 0)
94 return AltosLib.MISSING;
98 if (value == AltosLib.MISSING)
99 return AltosLib.MISSING;
100 if (prev_value == AltosLib.MISSING)
101 return AltosLib.MISSING;
103 return (value + prev_value) / 2 * (set_time - prev_set_time);
110 void set_derivative(AltosValue in) {
111 double n = in.rate();
113 if (n == AltosLib.MISSING)
116 double p = prev_value;
117 double pt = prev_set_time;
119 if (p == AltosLib.MISSING) {
121 pt = in.time() - 0.01;
124 /* Clip changes to reduce noise */
125 double ddt = in.time() - pt;
126 double ddv = (n - p) / ddt;
129 if (Math.abs(ddv) > 1000) {
139 filter_len = ascent_filter_len;
141 filter_len = descent_filter_len;
143 double f = 1/Math.exp(ddt/ filter_len);
144 n = p * f + n * (1-f);
149 void set_integral(AltosValue in) {
150 double change = in.integrate();
152 if (change != AltosLib.MISSING) {
153 double prev = prev_value;
154 if (prev == AltosLib.MISSING)
156 set(prev + change, in.time());
160 void copy(AltosValue old) {
162 set_time = old.set_time;
163 prev_value = old.value;
164 prev_set_time = old.set_time;
165 max_value = old.max_value;
168 void finish_update() {
170 prev_set_time = set_time;
174 value = AltosLib.MISSING;
175 prev_value = AltosLib.MISSING;
176 max_value = AltosLib.MISSING;
185 double v = measured.value();
186 if (v != AltosLib.MISSING)
188 return computed.value();
191 boolean is_measured() {
192 return measured.value() != AltosLib.MISSING;
196 double m = measured.max();
198 if (m != AltosLib.MISSING)
200 return computed.max();
203 double prev_value() {
204 if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
205 return measured.prev_value;
206 return computed.prev_value;
209 AltosValue altos_value() {
210 if (measured.value() != AltosLib.MISSING)
216 double c = measured.change();
217 if (c == AltosLib.MISSING)
218 c = computed.change();
223 double r = measured.rate();
224 if (r == AltosLib.MISSING)
229 void set_measured(double new_value, double time) {
230 measured.set(new_value, time);
233 void set_computed(double new_value, double time) {
234 computed.set(new_value, time);
237 void set_derivative(AltosValue in) {
238 computed.set_derivative(in);
241 void set_derivative(AltosCValue in) {
242 set_derivative(in.altos_value());
245 void set_integral(AltosValue in) {
246 computed.set_integral(in);
249 void set_integral(AltosCValue in) {
250 set_integral(in.altos_value());
253 void copy(AltosCValue old) {
254 measured.copy(old.measured);
255 computed.copy(old.computed);
258 void finish_update() {
259 measured.finish_update();
260 computed.finish_update();
264 measured = new AltosValue();
265 computed = new AltosValue();
272 public int receiver_serial;
273 public boolean landed;
274 public boolean ascent; /* going up? */
275 public boolean boost; /* under power */
278 public int device_type;
279 public int config_major;
280 public int config_minor;
281 public int apogee_delay;
282 public int main_deploy;
283 public int flight_log_max;
285 private double pressure_to_altitude(double p) {
286 if (p == AltosLib.MISSING)
287 return AltosLib.MISSING;
288 return AltosConvert.pressure_to_altitude(p);
291 private AltosCValue ground_altitude;
293 public double ground_altitude() {
294 return ground_altitude.value();
297 public void set_ground_altitude(double a) {
298 ground_altitude.set_measured(a, time);
301 class AltosGroundPressure extends AltosCValue {
302 void set_filtered(double p, double time) {
303 computed.set_filtered(p, time);
304 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
307 void set_measured(double p, double time) {
308 super.set_measured(p, time);
309 ground_altitude.set_computed(pressure_to_altitude(p), time);
313 private AltosGroundPressure ground_pressure;
315 public double ground_pressure() {
316 return ground_pressure.value();
319 public void set_ground_pressure (double pressure) {
320 ground_pressure.set_measured(pressure, time);
323 class AltosAltitude extends AltosCValue {
325 private void set_speed(AltosValue v) {
326 if (!acceleration.is_measured() || !ascent)
327 speed.set_derivative(this);
330 void set_computed(double a, double time) {
331 super.set_computed(a,time);
336 void set_measured(double a, double time) {
337 super.set_measured(a,time);
343 private AltosAltitude altitude;
345 public double altitude() {
346 double a = altitude.value();
347 if (a != AltosLib.MISSING)
351 return AltosLib.MISSING;
354 public double max_altitude() {
355 double a = altitude.max();
356 if (a != AltosLib.MISSING)
358 return AltosLib.MISSING;
361 public void set_altitude(double new_altitude) {
362 altitude.set_measured(new_altitude, time);
365 class AltosPressure extends AltosValue {
366 void set(double p, double time) {
368 if (state == AltosLib.ao_flight_pad)
369 ground_pressure.set_filtered(p, time);
370 double a = pressure_to_altitude(p);
371 altitude.set_computed(a, time);
375 private AltosPressure pressure;
377 public double pressure() {
378 return pressure.value();
381 public void set_pressure(double p) {
382 pressure.set(p, time);
385 public double height() {
386 double k = kalman_height.value();
387 if (k != AltosLib.MISSING)
390 double a = altitude();
391 double g = ground_altitude();
392 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
394 return AltosLib.MISSING;
397 public double max_height() {
398 double k = kalman_height.max();
399 if (k != AltosLib.MISSING)
402 double a = altitude.max();
403 double g = ground_altitude();
404 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
406 return AltosLib.MISSING;
409 class AltosSpeed extends AltosCValue {
412 acceleration.set_derivative(this);
415 void set_derivative(AltosCValue in) {
416 super.set_derivative(in);
420 void set_computed(double new_value, double time) {
421 super.set_computed(new_value, time);
425 void set_measured(double new_value, double time) {
426 super.set_measured(new_value, time);
431 private AltosSpeed speed;
433 public double speed() {
434 double v = kalman_speed.value();
435 if (v != AltosLib.MISSING)
437 return speed.value();
440 public double max_speed() {
441 double v = kalman_speed.max();
442 if (v != AltosLib.MISSING)
447 class AltosAccel extends AltosCValue {
448 void set_measured(double a, double time) {
449 super.set_measured(a, time);
451 speed.set_integral(this.measured);
455 AltosAccel acceleration;
457 public double acceleration() {
458 return acceleration.value();
461 public double max_acceleration() {
462 return acceleration.max();
465 public AltosValue kalman_height, kalman_speed, kalman_acceleration;
467 public void set_kalman(double height, double speed, double acceleration) {
468 kalman_height.set(height, time);
469 kalman_speed.set(speed, time);
470 kalman_acceleration.set(acceleration, time);
473 public double battery_voltage;
474 public double pyro_voltage;
475 public double temperature;
476 public double apogee_voltage;
477 public double main_voltage;
479 public double ignitor_voltage[];
482 public AltosGPS temp_gps;
483 public int temp_gps_sat_tick;
484 public boolean gps_pending;
485 public int gps_sequence;
490 public static final int MIN_PAD_SAMPLES = 10;
493 public int gps_waiting;
494 public boolean gps_ready;
498 public AltosGreatCircle from_pad;
499 public double elevation; /* from pad */
500 public double range; /* total distance */
502 public double gps_height;
504 public double pad_lat, pad_lon, pad_alt;
506 public int speak_tick;
507 public double speak_altitude;
509 public String callsign;
510 public String firmware_version;
512 public double accel_plus_g;
513 public double accel_minus_g;
515 public double ground_accel;
516 public double ground_accel_avg;
518 public int log_format;
520 public AltosMs5607 baro;
522 public AltosCompanion companion;
524 public void set_npad(int npad) {
526 gps_waiting = MIN_PAD_SAMPLES - npad;
527 if (this.gps_waiting < 0)
529 gps_ready = gps_waiting == 0;
535 received_time = System.currentTimeMillis();
536 time = AltosLib.MISSING;
537 time_change = AltosLib.MISSING;
538 prev_time = AltosLib.MISSING;
539 tick = AltosLib.MISSING;
540 prev_tick = AltosLib.MISSING;
541 boost_tick = AltosLib.MISSING;
542 state = AltosLib.ao_flight_invalid;
543 flight = AltosLib.MISSING;
546 rssi = AltosLib.MISSING;
548 device_type = AltosLib.MISSING;
549 config_major = AltosLib.MISSING;
550 config_minor = AltosLib.MISSING;
551 apogee_delay = AltosLib.MISSING;
552 main_deploy = AltosLib.MISSING;
553 flight_log_max = AltosLib.MISSING;
555 ground_altitude = new AltosCValue();
556 ground_pressure = new AltosGroundPressure();
557 altitude = new AltosAltitude();
558 pressure = new AltosPressure();
559 speed = new AltosSpeed();
560 acceleration = new AltosAccel();
562 temperature = AltosLib.MISSING;
563 battery_voltage = AltosLib.MISSING;
564 pyro_voltage = AltosLib.MISSING;
565 apogee_voltage = AltosLib.MISSING;
566 main_voltage = AltosLib.MISSING;
567 ignitor_voltage = null;
569 kalman_height = new AltosValue();
570 kalman_speed = new AltosValue();
571 kalman_acceleration = new AltosValue();
575 temp_gps_sat_tick = 0;
586 elevation = AltosLib.MISSING;
587 range = AltosLib.MISSING;
588 gps_height = AltosLib.MISSING;
590 pad_lat = AltosLib.MISSING;
591 pad_lon = AltosLib.MISSING;
592 pad_alt = AltosLib.MISSING;
594 speak_tick = AltosLib.MISSING;
595 speak_altitude = AltosLib.MISSING;
599 accel_plus_g = AltosLib.MISSING;
600 accel_minus_g = AltosLib.MISSING;
601 accel = AltosLib.MISSING;
603 ground_accel = AltosLib.MISSING;
604 ground_accel_avg = AltosLib.MISSING;
606 log_format = AltosLib.MISSING;
607 serial = AltosLib.MISSING;
608 receiver_serial = AltosLib.MISSING;
614 void finish_update() {
617 ground_altitude.finish_update();
618 altitude.finish_update();
619 pressure.finish_update();
620 speed.finish_update();
621 acceleration.finish_update();
623 kalman_height.finish_update();
624 kalman_speed.finish_update();
625 kalman_acceleration.finish_update();
628 void copy(AltosState old) {
635 received_time = old.received_time;
637 time_change = old.time_change;
638 prev_time = old.time;
641 prev_tick = old.tick;
642 boost_tick = old.boost_tick;
651 device_type = old.device_type;
652 config_major = old.config_major;
653 config_minor = old.config_minor;
654 apogee_delay = old.apogee_delay;
655 main_deploy = old.main_deploy;
656 flight_log_max = old.flight_log_max;
660 ground_altitude.copy(old.ground_altitude);
661 altitude.copy(old.altitude);
662 pressure.copy(old.pressure);
663 speed.copy(old.speed);
664 acceleration.copy(old.acceleration);
666 battery_voltage = old.battery_voltage;
667 pyro_voltage = old.pyro_voltage;
668 temperature = old.temperature;
669 apogee_voltage = old.apogee_voltage;
670 main_voltage = old.main_voltage;
671 ignitor_voltage = old.ignitor_voltage;
673 kalman_height.copy(old.kalman_height);
674 kalman_speed.copy(old.kalman_speed);
675 kalman_acceleration.copy(old.kalman_acceleration);
678 gps = old.gps.clone();
681 if (old.temp_gps != null)
682 temp_gps = old.temp_gps.clone();
685 temp_gps_sat_tick = old.temp_gps_sat_tick;
686 gps_sequence = old.gps_sequence;
687 gps_pending = old.gps_pending;
690 imu = old.imu.clone();
695 mag = old.mag.clone();
700 gps_waiting = old.gps_waiting;
701 gps_ready = old.gps_ready;
704 if (old.from_pad != null)
705 from_pad = old.from_pad.clone();
709 elevation = old.elevation;
712 gps_height = old.gps_height;
713 pad_lat = old.pad_lat;
714 pad_lon = old.pad_lon;
715 pad_alt = old.pad_alt;
717 speak_tick = old.speak_tick;
718 speak_altitude = old.speak_altitude;
720 callsign = old.callsign;
722 accel_plus_g = old.accel_plus_g;
723 accel_minus_g = old.accel_minus_g;
725 ground_accel = old.ground_accel;
726 ground_accel_avg = old.ground_accel_avg;
728 log_format = old.log_format;
730 receiver_serial = old.receiver_serial;
733 companion = old.companion;
747 if (gps.locked && gps.nsat >= 4) {
748 /* Track consecutive 'good' gps reports, waiting for 10 of them */
749 if (state == AltosLib.ao_flight_pad) {
751 if (pad_lat != AltosLib.MISSING) {
752 pad_lat = (pad_lat * 31 + gps.lat) / 32;
753 pad_lon = (pad_lon * 31 + gps.lon) / 32;
754 pad_alt = (pad_alt * 31 + gps.alt) / 32;
757 if (pad_lat == AltosLib.MISSING) {
763 if (gps.lat != 0 && gps.lon != 0 &&
764 pad_lat != AltosLib.MISSING &&
765 pad_lon != AltosLib.MISSING)
769 if (h == AltosLib.MISSING)
771 from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
772 elevation = from_pad.elevation;
773 range = from_pad.range;
774 gps_height = gps.alt - pad_alt;
778 public void set_tick(int new_tick) {
779 if (new_tick != AltosLib.MISSING) {
780 if (prev_tick != AltosLib.MISSING) {
781 while (new_tick < prev_tick - 1000) {
787 time_change = time - prev_time;
791 public void set_boost_tick(int boost_tick) {
792 if (boost_tick != AltosLib.MISSING)
793 this.boost_tick = boost_tick;
796 public String state_name() {
797 return AltosLib.state_name(state);
800 public void set_state(int state) {
801 if (state != AltosLib.ao_flight_invalid) {
803 ascent = (AltosLib.ao_flight_boost <= state &&
804 state <= AltosLib.ao_flight_coast);
805 boost = (AltosLib.ao_flight_boost == state);
810 public void set_device_type(int device_type) {
811 this.device_type = device_type;
814 public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
815 config_major = major;
816 config_minor = minor;
817 this.apogee_delay = apogee_delay;
818 this.main_deploy = main_deploy;
819 this.flight_log_max = flight_log_max;
822 public void set_callsign(String callsign) {
823 this.callsign = callsign;
826 public void set_firmware_version(String version) {
827 firmware_version = version;
830 public void set_flight(int flight) {
832 /* When the flight changes, reset the state */
833 if (flight != AltosLib.MISSING && flight != 0) {
834 if (this.flight != AltosLib.MISSING &&
835 this.flight != flight) {
838 this.flight = flight;
842 public void set_serial(int serial) {
843 /* When the serial changes, reset the state */
844 if (serial != AltosLib.MISSING) {
845 if (this.serial != AltosLib.MISSING &&
846 this.serial != serial) {
849 this.serial = serial;
853 public void set_receiver_serial(int serial) {
854 if (serial != AltosLib.MISSING)
855 receiver_serial = serial;
859 if (rssi == AltosLib.MISSING)
864 public void set_rssi(int rssi, int status) {
865 if (rssi != AltosLib.MISSING) {
867 this.status = status;
871 public void set_received_time(long ms) {
875 public void set_gps(AltosGPS gps, int sequence) {
877 this.gps = gps.clone();
878 gps_sequence = sequence;
884 public void set_imu(AltosIMU imu) {
890 public void set_mag(AltosMag mag) {
891 this.mag = mag.clone();
894 public AltosMs5607 make_baro() {
896 baro = new AltosMs5607();
900 public void set_ms5607(AltosMs5607 ms5607) {
904 set_pressure(baro.pa);
905 set_temperature(baro.cc / 100.0);
909 public void set_ms5607(int pres, int temp) {
911 baro.set(pres, temp);
913 set_pressure(baro.pa);
914 set_temperature(baro.cc / 100.0);
918 public void make_companion (int nchannels) {
919 if (companion == null)
920 companion = new AltosCompanion(nchannels);
923 public void set_companion(AltosCompanion companion) {
924 this.companion = companion;
927 void update_accel() {
928 double ground = ground_accel;
930 if (ground == AltosLib.MISSING)
931 ground = ground_accel_avg;
932 if (accel == AltosLib.MISSING)
934 if (ground == AltosLib.MISSING)
936 if (accel_plus_g == AltosLib.MISSING)
938 if (accel_minus_g == AltosLib.MISSING)
941 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
942 double counts_per_mss = counts_per_g / 9.80665;
943 acceleration.set_measured((ground - accel) / counts_per_mss, time);
946 public void set_accel_g(double accel_plus_g, double accel_minus_g) {
947 if (accel_plus_g != AltosLib.MISSING) {
948 this.accel_plus_g = accel_plus_g;
949 this.accel_minus_g = accel_minus_g;
954 public void set_ground_accel(double ground_accel) {
955 if (ground_accel != AltosLib.MISSING) {
956 this.ground_accel = ground_accel;
961 public void set_accel(double accel) {
962 if (accel != AltosLib.MISSING) {
964 if (state == AltosLib.ao_flight_pad) {
965 if (ground_accel_avg == AltosLib.MISSING)
966 ground_accel_avg = accel;
968 ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
974 public void set_temperature(double temperature) {
975 if (temperature != AltosLib.MISSING) {
976 this.temperature = temperature;
981 public void set_battery_voltage(double battery_voltage) {
982 if (battery_voltage != AltosLib.MISSING) {
983 this.battery_voltage = battery_voltage;
988 public void set_pyro_voltage(double pyro_voltage) {
989 if (pyro_voltage != AltosLib.MISSING) {
990 this.pyro_voltage = pyro_voltage;
995 public void set_apogee_voltage(double apogee_voltage) {
996 if (apogee_voltage != AltosLib.MISSING) {
997 this.apogee_voltage = apogee_voltage;
1002 public void set_main_voltage(double main_voltage) {
1003 if (main_voltage != AltosLib.MISSING) {
1004 this.main_voltage = main_voltage;
1009 public void set_ignitor_voltage(double[] voltage) {
1010 this.ignitor_voltage = voltage;
1013 public double time_since_boost() {
1014 if (tick == AltosLib.MISSING)
1017 if (boost_tick != AltosLib.MISSING) {
1018 return (tick - boost_tick) / 100.0;
1020 return tick / 100.0;
1023 public boolean valid() {
1024 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1027 public AltosGPS make_temp_gps(boolean sats) {
1028 if (temp_gps == null) {
1029 temp_gps = new AltosGPS(gps);
1033 if (tick != temp_gps_sat_tick)
1034 temp_gps.cc_gps_sat = null;
1035 temp_gps_sat_tick = tick;
1040 public void set_temp_gps() {
1041 set_gps(temp_gps, gps_sequence + 1);
1042 gps_pending = false;
1046 public AltosState clone() {
1047 AltosState s = new AltosState();
1052 public AltosState () {