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_1;
  23
  24 public class AltosState implements Cloneable {
  25         public AltosRecord record;
  26
  27         public static final int set_position = 1;
  28         public static final int set_gps = 2;
  29         public static final int set_data = 4;
  30
  31         public int set;
  32
  33         static final double filter_len = 0.5;
  34
  35         /* derived data */
  36
  37         public long     received_time;
  38
  39         public double   time;
  40         public double   prev_time;
  41         public double   time_change;
  42         public int      tick;
  43         private int     prev_tick;
  44         public int      boost_tick;
  45
  46         class AltosValue {
  47                 private double  value;
  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;
  53
  54                 void set(double new_value, double time) {
  55                         if (new_value != AltosRecord.MISSING) {
  56                                 value = new_value;
  57                                 if (max_value == AltosRecord.MISSING || value > max_value) {
  58                                         max_value = value;
  59                                 }
  60                                 set_time = time;
  61                         }
  62                 }
  63
  64                 double value() {
  65                         return value;
  66                 }
  67
  68                 double max() {
  69                         return max_value;
  70                 }
  71
  72                 double prev() {
  73                         return prev_value;
  74                 }
  75
  76                 double change() {
  77                         if (value != AltosRecord.MISSING && prev_value != AltosRecord.MISSING)
  78                                 return value - prev_value;
  79                         return AltosRecord.MISSING;
  80                 }
  81
  82                 double rate() {
  83                         double c = change();
  84                         double t = set_time - prev_set_time;
  85
  86                         if (c != AltosRecord.MISSING && t != 0)
  87                                 return c / t;
  88                         return AltosRecord.MISSING;
  89                 }
  90
  91                 double integrate() {
  92                         if (value == AltosRecord.MISSING)
  93                                 return AltosRecord.MISSING;
  94                         if (prev_value == AltosRecord.MISSING)
  95                                 return AltosRecord.MISSING;
  96
  97                         return (value + prev_value) / 2 * (set_time - prev_set_time);
  98                 }
  99
 100                 double time() {
 101                         return set_time;
 102                 }
 103
 104                 void set_derivative(AltosValue in) {
 105                         double  new_value = in.rate();
 106
 107                         if (new_value == AltosRecord.MISSING)
 108                                 return;
 109
 110                         /* Clip changes to reduce noise */
 111                         if (prev_value != AltosRecord.MISSING) {
 112                                 double  ddt = in.time() - prev_set_time;
 113                                 double  ddv = (new_value - prev_value) / ddt;
 114
 115                                 /* 100gs */
 116                                 if (Math.abs(ddv) > 1000) {
 117                                         if (new_value > prev_value)
 118                                                 new_value = prev_value + ddt * 1000;
 119                                         else
 120                                                 new_value = prev_value - ddt * 1000;
 121                                 }
 122
 123                                 double f = 1/Math.exp(ddt/ filter_len);
 124                                 new_value = prev_value * f + new_value * (1-f);
 125                         }
 126
 127                         set(new_value, in.time());
 128                 }
 129
 130                 void set_integral(AltosValue in) {
 131                         double  change = in.integrate();
 132
 133                         if (change != AltosRecord.MISSING)
 134                                 set(prev_value + change, in.time());
 135                 }
 136
 137                 void copy(AltosValue old) {
 138                         value = old.value;
 139                         set_time = old.set_time;
 140                         prev_value = old.value;
 141                         prev_set_time = old.set_time;
 142                         max_value = old.max_value;
 143                 }
 144
 145                 AltosValue() {
 146                         value = AltosRecord.MISSING;
 147                         prev_value = AltosRecord.MISSING;
 148                         max_value = AltosRecord.MISSING;
 149                 }
 150         }
 151
 152         class AltosCValue {
 153                 AltosValue      measured;
 154                 AltosValue      computed;
 155
 156                 double value() {
 157                         double v = measured.value();
 158                         if (v != AltosRecord.MISSING)
 159                                 return v;
 160                         return computed.value();
 161                 }
 162
 163                 boolean is_measured() {
 164                         return measured.value() != AltosRecord.MISSING;
 165                 }
 166
 167                 double max() {
 168                         double m = measured.max();
 169
 170                         if (m != AltosRecord.MISSING)
 171                                 return m;
 172                         return computed.max();
 173                 }
 174
 175                 double prev_value() {
 176                         if (measured.value != AltosRecord.MISSING && measured.prev_value != AltosRecord.MISSING)
 177                                 return measured.prev_value;
 178                         return computed.prev_value;
 179                 }
 180
 181                 AltosValue altos_value() {
 182                         if (measured.value() != AltosRecord.MISSING)
 183                                 return measured;
 184                         return computed;
 185                 }
 186
 187                 double change() {
 188                         double c = measured.change();
 189                         if (c == AltosRecord.MISSING)
 190                                 c = computed.change();
 191                         return c;
 192                 }
 193
 194                 double rate() {
 195                         double r = measured.rate();
 196                         if (r == AltosRecord.MISSING)
 197                                 r = computed.rate();
 198                         return r;
 199                 }
 200
 201                 void set_measured(double new_value, double time) {
 202                         measured.set(new_value, time);
 203                 }
 204
 205                 void set_computed(double new_value, double time) {
 206                         computed.set(new_value, time);
 207                 }
 208
 209                 void set_derivative(AltosValue in) {
 210                         computed.set_derivative(in);
 211                 }
 212
 213                 void set_derivative(AltosCValue in) {
 214                         set_derivative(in.altos_value());
 215                 }
 216
 217                 void set_integral(AltosValue in) {
 218                         computed.set_integral(in);
 219                 }
 220
 221                 void set_integral(AltosCValue in) {
 222                         set_integral(in.altos_value());
 223                 }
 224
 225                 void copy(AltosCValue old) {
 226                         measured.copy(old.measured);
 227                         computed.copy(old.computed);
 228                 }
 229
 230                 AltosCValue() {
 231                         measured = new AltosValue();
 232                         computed = new AltosValue();
 233                 }
 234         }
 235
 236         public int      state;
 237         public int      flight;
 238         public int      serial;
 239         public boolean  landed;
 240         public boolean  ascent; /* going up? */
 241         public boolean  boost;  /* under power */
 242         public int      rssi;
 243         public int      status;
 244         public int      device_type;
 245         public int      config_major;
 246         public int      config_minor;
 247         public int      apogee_delay;
 248         public int      main_deploy;
 249         public int      flight_log_max;
 250
 251         private double pressure_to_altitude(double p) {
 252                 if (p == AltosRecord.MISSING)
 253                         return AltosRecord.MISSING;
 254                 return AltosConvert.pressure_to_altitude(p);
 255         }
 256
 257         private AltosCValue ground_altitude;
 258
 259         public double ground_altitude() {
 260                 return ground_altitude.value();
 261         }
 262
 263         public void set_ground_altitude(double a) {
 264                 ground_altitude.set_measured(a, time);
 265         }
 266
 267         class AltosGroundPressure extends AltosValue {
 268                 void set(double p, double time) {
 269                         super.set(p, time);
 270                         ground_altitude.set_computed(pressure_to_altitude(p), time);
 271                 }
 272         }
 273
 274         private AltosGroundPressure ground_pressure;
 275
 276         public double ground_pressure() {
 277                 return ground_pressure.value();
 278         }
 279
 280         public void set_ground_pressure (double pressure) {
 281                 ground_pressure.set(pressure, time);
 282         }
 283
 284         class AltosAltitude extends AltosCValue {
 285
 286                 private void set_speed(AltosValue v) {
 287                         if (!acceleration.is_measured() || !ascent)
 288                                 speed.set_derivative(this);
 289                 }
 290
 291                 void set_computed(double a, double time) {
 292                         super.set_computed(a,time);
 293                         set_speed(computed);
 294                         set |= set_position;
 295                 }
 296
 297                 void set_measured(double a, double time) {
 298                         super.set_measured(a,time);
 299                         set_speed(measured);
 300                         set |= set_position;
 301                 }
 302         }
 303
 304         private AltosAltitude   altitude;
 305
 306         public double altitude() {
 307                 double a = altitude.value();
 308                 if (a != AltosRecord.MISSING)
 309                         return a;
 310                 if (gps != null)
 311                         return gps.alt;
 312                 return AltosRecord.MISSING;
 313         }
 314
 315         public double max_altitude() {
 316                 double a = altitude.max();
 317                 if (a != AltosRecord.MISSING)
 318                         return a;
 319                 return AltosRecord.MISSING;
 320         }
 321
 322         public void set_altitude(double new_altitude) {
 323                 altitude.set_measured(new_altitude, time);
 324         }
 325
 326         class AltosPressure extends AltosValue {
 327                 void set(double p, double time) {
 328                         super.set(p, time);
 329                         altitude.set_computed(pressure_to_altitude(p), time);
 330                 }
 331         }
 332
 333         private AltosPressure   pressure;
 334
 335         public double pressure() {
 336                 return pressure.value();
 337         }
 338
 339         public void set_pressure(double p) {
 340                 pressure.set(p, time);
 341         }
 342
 343         public double height() {
 344                 double k = kalman_height.value();
 345                 if (k != AltosRecord.MISSING)
 346                         return k;
 347
 348                 double a = altitude();
 349                 double g = ground_altitude();
 350                 if (a != AltosRecord.MISSING && g != AltosRecord.MISSING)
 351                         return a - g;
 352                 return AltosRecord.MISSING;
 353         }
 354
 355         public double max_height() {
 356                 double  k = kalman_height.max();
 357                 if (k != AltosRecord.MISSING)
 358                         return k;
 359
 360                 double a = altitude.max();
 361                 double g = ground_altitude();
 362                 if (a != AltosRecord.MISSING && g != AltosRecord.MISSING)
 363                         return a - g;
 364                 return AltosRecord.MISSING;
 365         }
 366
 367         class AltosSpeed extends AltosCValue {
 368
 369                 void set_accel() {
 370                         acceleration.set_derivative(this);
 371                 }
 372
 373                 void set_derivative(AltosCValue in) {
 374                         super.set_derivative(in);
 375                         set_accel();
 376                 }
 377
 378                 void set_computed(double new_value, double time) {
 379                         super.set_computed(new_value, time);
 380                         set_accel();
 381                 }
 382
 383                 void set_measured(double new_value, double time) {
 384                         super.set_measured(new_value, time);
 385                         set_accel();
 386                 }
 387         }
 388
 389         private AltosSpeed speed;
 390
 391         public double speed() {
 392                 return speed.value();
 393         }
 394
 395         public double max_speed() {
 396                 return speed.max();
 397         }
 398
 399         class AltosAccel extends AltosCValue {
 400                 void set_measured(double a, double time) {
 401                         super.set_measured(a, time);
 402                         if (ascent)
 403                                 speed.set_integral(this.measured);
 404                 }
 405         }
 406
 407         AltosAccel acceleration;
 408
 409         public double acceleration() {
 410                 return acceleration.value();
 411         }
 412
 413         public double max_acceleration() {
 414                 return acceleration.max();
 415         }
 416
 417         public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 418
 419         public void set_kalman(double height, double speed, double acceleration) {
 420                 kalman_height.set(height, time);
 421                 kalman_speed.set(speed, time);
 422                 kalman_acceleration.set(acceleration, time);
 423         }
 424
 425         public double   battery_voltage;
 426         public double   pyro_voltage;
 427         public double   temperature;
 428         public double   apogee_voltage;
 429         public double   main_voltage;
 430
 431         public double   ignitor_voltage[];
 432
 433         public AltosGPS gps;
 434         public AltosGPS temp_gps;
 435         public boolean  temp_gps_clear_sats_pending;
 436         public boolean  gps_pending;
 437         public int gps_sequence;
 438
 439         public AltosIMU imu;
 440         public AltosMag mag;
 441
 442         public static final int MIN_PAD_SAMPLES = 10;
 443
 444         public int      npad;
 445         public int      gps_waiting;
 446         public boolean  gps_ready;
 447
 448         public int      ngps;
 449
 450         public AltosGreatCircle from_pad;
 451         public double   elevation;      /* from pad */
 452         public double   range;          /* total distance */
 453
 454         public double   gps_height;
 455
 456         public double pad_lat, pad_lon, pad_alt;
 457
 458         public int      speak_tick;
 459         public double   speak_altitude;
 460
 461         public String   callsign;
 462         public String   firmware_version;
 463
 464         public double   accel_plus_g;
 465         public double   accel_minus_g;
 466         public double   accel;
 467         public double   ground_accel;
 468         public double   ground_accel_avg;
 469
 470         public int      log_format;
 471
 472         public AltosMs5607      baro;
 473
 474         public AltosRecordCompanion     companion;
 475
 476         public void set_npad(int npad) {
 477                 this.npad = npad;
 478                 gps_waiting = MIN_PAD_SAMPLES - npad;
 479                 if (this.gps_waiting < 0)
 480                         gps_waiting = 0;
 481                 gps_ready = gps_waiting == 0;
 482         }
 483
 484         public void init() {
 485                 record = null;
 486
 487                 set = 0;
 488
 489                 received_time = System.currentTimeMillis();
 490                 time = AltosRecord.MISSING;
 491                 time_change = AltosRecord.MISSING;
 492                 prev_time = AltosRecord.MISSING;
 493                 tick = AltosRecord.MISSING;
 494                 prev_tick = AltosRecord.MISSING;
 495                 boost_tick = AltosRecord.MISSING;
 496                 state = AltosLib.ao_flight_invalid;
 497                 flight = AltosRecord.MISSING;
 498                 landed = false;
 499                 boost = false;
 500                 rssi = AltosRecord.MISSING;
 501                 status = 0;
 502                 device_type = AltosRecord.MISSING;
 503                 config_major = AltosRecord.MISSING;
 504                 config_minor = AltosRecord.MISSING;
 505                 apogee_delay = AltosRecord.MISSING;
 506                 main_deploy = AltosRecord.MISSING;
 507                 flight_log_max = AltosRecord.MISSING;
 508
 509                 ground_altitude = new AltosCValue();
 510                 ground_pressure = new AltosGroundPressure();
 511                 altitude = new AltosAltitude();
 512                 pressure = new AltosPressure();
 513                 speed = new AltosSpeed();
 514                 acceleration = new AltosAccel();
 515
 516                 temperature = AltosRecord.MISSING;
 517                 battery_voltage = AltosRecord.MISSING;
 518                 pyro_voltage = AltosRecord.MISSING;
 519                 apogee_voltage = AltosRecord.MISSING;
 520                 main_voltage = AltosRecord.MISSING;
 521                 ignitor_voltage = null;
 522
 523                 kalman_height = new AltosValue();
 524                 kalman_speed = new AltosValue();
 525                 kalman_acceleration = new AltosValue();
 526
 527                 gps = null;
 528                 temp_gps = null;
 529                 temp_gps_clear_sats_pending = false;
 530                 gps_sequence = 0;
 531                 gps_pending = false;
 532
 533                 imu = null;
 534                 mag = null;
 535
 536                 set_npad(0);
 537                 ngps = 0;
 538
 539                 from_pad = null;
 540                 elevation = AltosRecord.MISSING;
 541                 range = AltosRecord.MISSING;
 542                 gps_height = AltosRecord.MISSING;
 543
 544                 pad_lat = AltosRecord.MISSING;
 545                 pad_lon = AltosRecord.MISSING;
 546                 pad_alt = AltosRecord.MISSING;
 547
 548                 speak_tick = AltosRecord.MISSING;
 549                 speak_altitude = AltosRecord.MISSING;
 550
 551                 callsign = null;
 552
 553                 accel_plus_g = AltosRecord.MISSING;
 554                 accel_minus_g = AltosRecord.MISSING;
 555                 accel = AltosRecord.MISSING;
 556
 557                 ground_accel = AltosRecord.MISSING;
 558                 ground_accel_avg = AltosRecord.MISSING;
 559
 560                 log_format = AltosRecord.MISSING;
 561                 serial = AltosRecord.MISSING;
 562
 563                 baro = null;
 564                 companion = null;
 565         }
 566
 567         void copy(AltosState old) {
 568
 569                 record = null;
 570
 571                 if (old == null) {
 572                         init();
 573                         return;
 574                 }
 575
 576                 received_time = old.received_time;
 577                 time = old.time;
 578                 time_change = 0;
 579                 tick = old.tick;
 580                 prev_tick = old.tick;
 581                 boost_tick = old.boost_tick;
 582
 583                 state = old.state;
 584                 flight = old.flight;
 585                 landed = old.landed;
 586                 ascent = old.ascent;
 587                 boost = old.boost;
 588                 rssi = old.rssi;
 589                 status = old.status;
 590                 device_type = old.device_type;
 591                 config_major = old.config_major;
 592                 config_minor = old.config_minor;
 593                 apogee_delay = old.apogee_delay;
 594                 main_deploy = old.main_deploy;
 595                 flight_log_max = old.flight_log_max;
 596
 597                 set = 0;
 598
 599                 ground_altitude.copy(old.ground_altitude);
 600                 altitude.copy(old.altitude);
 601                 pressure.copy(old.pressure);
 602                 speed.copy(old.speed);
 603                 acceleration.copy(old.acceleration);
 604
 605                 battery_voltage = old.battery_voltage;
 606                 pyro_voltage = old.pyro_voltage;
 607                 temperature = old.temperature;
 608                 apogee_voltage = old.apogee_voltage;
 609                 main_voltage = old.main_voltage;
 610                 ignitor_voltage = old.ignitor_voltage;
 611
 612                 kalman_height.copy(old.kalman_height);
 613                 kalman_speed.copy(old.kalman_speed);
 614                 kalman_acceleration.copy(old.kalman_acceleration);
 615
 616                 if (old.gps != null)
 617                         gps = old.gps.clone();
 618                 else
 619                         gps = null;
 620                 if (old.temp_gps != null)
 621                         temp_gps = old.temp_gps.clone();
 622                 else
 623                         temp_gps = null;
 624                 temp_gps_clear_sats_pending = old.temp_gps_clear_sats_pending;
 625                 gps_sequence = old.gps_sequence;
 626                 gps_pending = old.gps_pending;
 627
 628                 if (old.imu != null)
 629                         imu = old.imu.clone();
 630                 else
 631                         imu = null;
 632
 633                 if (old.mag != null)
 634                         mag = old.mag.clone();
 635                 else
 636                         mag = null;
 637
 638                 npad = old.npad;
 639                 gps_waiting = old.gps_waiting;
 640                 gps_ready = old.gps_ready;
 641                 ngps = old.ngps;
 642
 643                 if (old.from_pad != null)
 644                         from_pad = old.from_pad.clone();
 645                 else
 646                         from_pad = null;
 647
 648                 elevation = old.elevation;
 649                 range = old.range;
 650
 651                 gps_height = old.gps_height;
 652                 pad_lat = old.pad_lat;
 653                 pad_lon = old.pad_lon;
 654                 pad_alt = old.pad_alt;
 655
 656                 speak_tick = old.speak_tick;
 657                 speak_altitude = old.speak_altitude;
 658
 659                 callsign = old.callsign;
 660
 661                 accel_plus_g = old.accel_plus_g;
 662                 accel_minus_g = old.accel_minus_g;
 663                 accel = old.accel;
 664                 ground_accel = old.ground_accel;
 665                 ground_accel_avg = old.ground_accel_avg;
 666
 667                 log_format = old.log_format;
 668                 serial = old.serial;
 669
 670                 baro = old.baro;
 671                 companion = old.companion;
 672         }
 673
 674         void update_time() {
 675         }
 676
 677         void update_gps() {
 678                 elevation = 0;
 679                 range = -1;
 680                 gps_height = 0;
 681
 682                 if (gps == null)
 683                         return;
 684
 685                 if (gps.locked && gps.nsat >= 4) {
 686                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 687                         if (state == AltosLib.ao_flight_pad) {
 688                                 set_npad(npad+1);
 689                                 if (pad_lat != AltosRecord.MISSING) {
 690                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
 691                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
 692                                         pad_alt = (pad_alt * 31 + gps.alt) / 32;
 693                                 }
 694                         }
 695                         if (pad_lat == AltosRecord.MISSING) {
 696                                 pad_lat = gps.lat;
 697                                 pad_lon = gps.lon;
 698                                 pad_alt = gps.alt;
 699                         }
 700                 }
 701                 if (gps.lat != 0 && gps.lon != 0 &&
 702                     pad_lat != AltosRecord.MISSING &&
 703                     pad_lon != AltosRecord.MISSING)
 704                 {
 705                         double h = height();
 706
 707                         if (h == AltosRecord.MISSING)
 708                                 h = 0;
 709                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 710                         elevation = from_pad.elevation;
 711                         range = from_pad.range;
 712                         gps_height = gps.alt - pad_alt;
 713                 }
 714         }
 715
 716         public void set_tick(int new_tick) {
 717                 if (new_tick != AltosRecord.MISSING) {
 718                         if (prev_tick != AltosRecord.MISSING) {
 719                                 while (new_tick < prev_tick - 32767) {
 720                                         new_tick += 65536;
 721                                 }
 722                         }
 723                         tick = new_tick;
 724                         time = tick / 100.0;
 725                 }
 726         }
 727
 728         public void set_boost_tick(int boost_tick) {
 729                 if (boost_tick != AltosRecord.MISSING)
 730                         this.boost_tick = boost_tick;
 731         }
 732
 733         public String state_name() {
 734                 return AltosLib.state_name(state);
 735         }
 736
 737         public void set_state(int state) {
 738                 if (state != AltosLib.ao_flight_invalid) {
 739                         this.state = state;
 740                         ascent = (AltosLib.ao_flight_boost <= state &&
 741                                   state <= AltosLib.ao_flight_coast);
 742                         boost = (AltosLib.ao_flight_boost == state);
 743                 }
 744
 745         }
 746
 747         public void set_device_type(int device_type) {
 748                 this.device_type = device_type;
 749         }
 750
 751         public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
 752                 config_major = major;
 753                 config_minor = minor;
 754                 this.apogee_delay = apogee_delay;
 755                 this.main_deploy = main_deploy;
 756                 this.flight_log_max = flight_log_max;
 757         }
 758
 759         public void set_callsign(String callsign) {
 760                 this.callsign = callsign;
 761         }
 762
 763         public void set_firmware_version(String version) {
 764                 firmware_version = version;
 765         }
 766
 767         public void set_flight(int flight) {
 768
 769                 /* When the flight changes, reset the state */
 770                 if (flight != AltosRecord.MISSING) {
 771                         if (this.flight != AltosRecord.MISSING &&
 772                             this.flight != flight) {
 773                                 init();
 774                         }
 775                         this.flight = flight;
 776                 }
 777         }
 778
 779         public void set_serial(int serial) {
 780                 /* When the serial changes, reset the state */
 781                 if (serial != AltosRecord.MISSING) {
 782                         if (this.serial != AltosRecord.MISSING &&
 783                             this.serial != serial) {
 784                                 init();
 785                         }
 786                         this.serial = serial;
 787                 }
 788         }
 789
 790         public int rssi() {
 791                 if (rssi == AltosRecord.MISSING)
 792                         return 0;
 793                 return rssi;
 794         }
 795
 796         public void set_rssi(int rssi, int status) {
 797                 if (rssi != AltosRecord.MISSING) {
 798                         this.rssi = rssi;
 799                         this.status = status;
 800                 }
 801         }
 802
 803         public void set_received_time(long ms) {
 804                 received_time = ms;
 805         }
 806
 807         public void set_gps(AltosGPS gps, int sequence) {
 808                 if (gps != null) {
 809                         this.gps = gps.clone();
 810                         gps_sequence = sequence;
 811                         update_gps();
 812                         set |= set_gps;
 813                 }
 814         }
 815
 816         public void make_baro() {
 817                 if (baro == null)
 818                         baro = new AltosMs5607();
 819         }
 820
 821         public void set_ms5607(int pres, int temp) {
 822                 if (baro != null) {
 823                         baro.set(pres, temp);
 824
 825                         set_pressure(baro.pa);
 826                         set_temperature(baro.cc / 100.0);
 827                 }
 828         }
 829
 830         public void make_companion (int nchannels) {
 831                 if (companion == null)
 832                         companion = new AltosRecordCompanion(nchannels);
 833         }
 834
 835         public void set_companion(AltosRecordCompanion companion) {
 836                 this.companion = companion;
 837         }
 838
 839         void update_accel() {
 840                 double  ground = ground_accel;
 841
 842                 if (ground == AltosRecord.MISSING)
 843                         ground = ground_accel_avg;
 844                 if (accel == AltosRecord.MISSING)
 845                         return;
 846                 if (ground == AltosRecord.MISSING)
 847                         return;
 848                 if (accel_plus_g == AltosRecord.MISSING)
 849                         return;
 850                 if (accel_minus_g == AltosRecord.MISSING)
 851                         return;
 852
 853                 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
 854                 double counts_per_mss = counts_per_g / 9.80665;
 855                 acceleration.set_computed((ground - accel) / counts_per_mss, time);
 856         }
 857
 858         public void set_accel_g(double accel_plus_g, double accel_minus_g) {
 859                 if (accel_plus_g != AltosRecord.MISSING) {
 860                         this.accel_plus_g = accel_plus_g;
 861                         this.accel_minus_g = accel_minus_g;
 862                         update_accel();
 863                 }
 864         }
 865
 866         public void set_ground_accel(double ground_accel) {
 867                 if (ground_accel != AltosRecord.MISSING) {
 868                         this.ground_accel = ground_accel;
 869                         update_accel();
 870                 }
 871         }
 872
 873         public void set_accel(double accel) {
 874                 if (accel != AltosRecord.MISSING) {
 875                         this.accel = accel;
 876                         if (state == AltosLib.ao_flight_pad) {
 877                                 if (ground_accel_avg == AltosRecord.MISSING)
 878                                         ground_accel_avg = accel;
 879                                 else
 880                                         ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
 881                         }
 882                 }
 883                 update_accel();
 884         }
 885
 886         public void set_temperature(double temperature) {
 887                 if (temperature != AltosRecord.MISSING) {
 888                         this.temperature = temperature;
 889                         set |= set_data;
 890                 }
 891         }
 892
 893         public void set_battery_voltage(double battery_voltage) {
 894                 if (battery_voltage != AltosRecord.MISSING) {
 895                         this.battery_voltage = battery_voltage;
 896                         set |= set_data;
 897                 }
 898         }
 899
 900         public void set_pyro_voltage(double pyro_voltage) {
 901                 if (pyro_voltage != AltosRecord.MISSING) {
 902                         this.pyro_voltage = pyro_voltage;
 903                         set |= set_data;
 904                 }
 905         }
 906
 907         public void set_apogee_voltage(double apogee_voltage) {
 908                 if (apogee_voltage != AltosRecord.MISSING) {
 909                         this.apogee_voltage = apogee_voltage;
 910                         set |= set_data;
 911                 }
 912         }
 913
 914         public void set_main_voltage(double main_voltage) {
 915                 if (main_voltage != AltosRecord.MISSING) {
 916                         this.main_voltage = main_voltage;
 917                         set |= set_data;
 918                 }
 919         }
 920
 921         public void set_ignitor_voltage(double[] voltage) {
 922                 this.ignitor_voltage = voltage;
 923         }
 924
 925         public double time_since_boost() {
 926                 if (tick == AltosRecord.MISSING)
 927                         return 0.0;
 928
 929                 if (boost_tick != AltosRecord.MISSING) {
 930                         return (tick - boost_tick) / 100.0;
 931                 }
 932                 return tick / 100.0;
 933         }
 934
 935         public boolean valid() {
 936                 return tick != AltosRecord.MISSING && serial != AltosRecord.MISSING;
 937         }
 938
 939         public AltosGPS make_temp_gps(boolean sats) {
 940                 if (temp_gps == null) {
 941                         temp_gps = new AltosGPS(gps);
 942                 }
 943                 gps_pending = true;
 944                 if (!sats)
 945                         temp_gps_clear_sats_pending = true;
 946                 else if (temp_gps_clear_sats_pending) {
 947                         temp_gps.cc_gps_sat = null;
 948                         temp_gps_clear_sats_pending = false;
 949                 }
 950                 return temp_gps;
 951         }
 952
 953         public void set_temp_gps() {
 954                 set_gps(temp_gps, gps_sequence + 1);
 955                 gps_pending = false;
 956                 temp_gps = null;
 957         }
 958
 959         public AltosState clone() {
 960                 AltosState s = new AltosState();
 961                 s.copy(this);
 962                 return s;
 963         }
 964
 965
 966         public void init (AltosRecord cur, AltosState prev_state) {
 967
 968                 System.out.printf ("init\n");
 969                 if (cur == null)
 970                         cur = new AltosRecord();
 971
 972                 record = cur;
 973
 974                 /* Discard previous state if it was for a different board */
 975                 if (prev_state != null && prev_state.serial != cur.serial)
 976                         prev_state = null;
 977
 978                 copy(prev_state);
 979
 980                 set_ground_altitude(cur.ground_altitude());
 981                 set_altitude(cur.altitude());
 982
 983                 set_kalman(cur.kalman_height, cur.kalman_speed, cur.kalman_acceleration);
 984
 985                 received_time = System.currentTimeMillis();
 986
 987                 set_temperature(cur.temperature());
 988                 set_apogee_voltage(cur.drogue_voltage());
 989                 set_main_voltage(cur.main_voltage());
 990                 set_battery_voltage(cur.battery_voltage());
 991
 992                 set_pressure(cur.pressure());
 993
 994                 set_tick(cur.tick);
 995                 set_state(cur.state);
 996
 997                 set_accel_g (cur.accel_minus_g, cur.accel_plus_g);
 998                 set_ground_accel(cur.ground_accel);
 999                 set_accel (cur.accel);
1000
1001                 if (cur.gps_sequence != gps_sequence)
1002                         set_gps(cur.gps, cur.gps_sequence);
1003
1004         }
1005
1006         public AltosState(AltosRecord cur) {
1007                 init(cur, null);
1008         }
1009
1010         public AltosState (AltosRecord cur, AltosState prev) {
1011                 init(cur, prev);
1012         }
1013
1014
1015         public AltosState () {
1016                 init();
1017         }
1018 }