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_3;
  23
  24 public class AltosState implements Cloneable {
  25
  26         public static final int set_position = 1;
  27         public static final int set_gps = 2;
  28         public static final int set_data = 4;
  29
  30         public int set;
  31
  32         static final double ascent_filter_len = 0.5;
  33         static final double descent_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
  53                 boolean can_max() { return true; }
  54
  55                 void set(double new_value, double time) {
  56                         if (new_value != AltosLib.MISSING) {
  57                                 value = new_value;
  58                                 if (can_max() && (max_value == AltosLib.MISSING || value > max_value))
  59                                         max_value = value;
  60                                 set_time = time;
  61                         }
  62                 }
  63
  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;
  67                         set(new_value, time);
  68                 }
  69
  70                 double value() {
  71                         return value;
  72                 }
  73
  74                 double max() {
  75                         return max_value;
  76                 }
  77
  78                 double prev() {
  79                         return prev_value;
  80                 }
  81
  82                 double change() {
  83                         if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
  84                                 return value - prev_value;
  85                         return AltosLib.MISSING;
  86                 }
  87
  88                 double rate() {
  89                         double c = change();
  90                         double t = set_time - prev_set_time;
  91
  92                         if (c != AltosLib.MISSING && t != 0)
  93                                 return c / t;
  94                         return AltosLib.MISSING;
  95                 }
  96
  97                 double integrate() {
  98                         if (value == AltosLib.MISSING)
  99                                 return AltosLib.MISSING;
 100                         if (prev_value == AltosLib.MISSING)
 101                                 return AltosLib.MISSING;
 102
 103                         return (value + prev_value) / 2 * (set_time - prev_set_time);
 104                 }
 105
 106                 double time() {
 107                         return set_time;
 108                 }
 109
 110                 void set_derivative(AltosValue in) {
 111                         double  n = in.rate();
 112
 113                         if (n == AltosLib.MISSING)
 114                                 return;
 115
 116                         double  p = prev_value;
 117                         double  pt = prev_set_time;
 118
 119                         if (p == AltosLib.MISSING) {
 120                                 p = 0;
 121                                 pt = in.time() - 0.01;
 122                         }
 123
 124                         /* Clip changes to reduce noise */
 125                         double  ddt = in.time() - pt;
 126                         double  ddv = (n - p) / ddt;
 127
 128                         final double max = 100000;
 129
 130                         /* 100gs */
 131                         if (Math.abs(ddv) > max) {
 132                                 if (n > p)
 133                                         n = p + ddt * max;
 134                                 else
 135                                         n = p - ddt * max;
 136                         }
 137
 138                         double filter_len;
 139
 140                         if (ascent)
 141                                 filter_len = ascent_filter_len;
 142                         else
 143                                 filter_len = descent_filter_len;
 144
 145                         double f = 1/Math.exp(ddt/ filter_len);
 146                         n = p * f + n * (1-f);
 147
 148                         set(n, in.time());
 149                 }
 150
 151                 void set_integral(AltosValue in) {
 152                         double  change = in.integrate();
 153
 154                         if (change != AltosLib.MISSING) {
 155                                 double  prev = prev_value;
 156                                 if (prev == AltosLib.MISSING)
 157                                         prev = 0;
 158                                 set(prev + change, in.time());
 159                         }
 160                 }
 161
 162                 void copy(AltosValue old) {
 163                         value = old.value;
 164                         set_time = old.set_time;
 165                         prev_value = old.value;
 166                         prev_set_time = old.set_time;
 167                         max_value = old.max_value;
 168                 }
 169
 170                 void finish_update() {
 171                         prev_value = value;
 172                         prev_set_time = set_time;
 173                 }
 174
 175                 AltosValue() {
 176                         value = AltosLib.MISSING;
 177                         prev_value = AltosLib.MISSING;
 178                         max_value = AltosLib.MISSING;
 179                 }
 180         }
 181
 182         class AltosCValue {
 183                 AltosValue      measured;
 184                 AltosValue      computed;
 185
 186                 double value() {
 187                         double v = measured.value();
 188                         if (v != AltosLib.MISSING)
 189                                 return v;
 190                         return computed.value();
 191                 }
 192
 193                 boolean is_measured() {
 194                         return measured.value() != AltosLib.MISSING;
 195                 }
 196
 197                 double max() {
 198                         double m = measured.max();
 199
 200                         if (m != AltosLib.MISSING)
 201                                 return m;
 202                         return computed.max();
 203                 }
 204
 205                 double prev_value() {
 206                         if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
 207                                 return measured.prev_value;
 208                         return computed.prev_value;
 209                 }
 210
 211                 AltosValue altos_value() {
 212                         if (measured.value() != AltosLib.MISSING)
 213                                 return measured;
 214                         return computed;
 215                 }
 216
 217                 double change() {
 218                         double c = measured.change();
 219                         if (c == AltosLib.MISSING)
 220                                 c = computed.change();
 221                         return c;
 222                 }
 223
 224                 double rate() {
 225                         double r = measured.rate();
 226                         if (r == AltosLib.MISSING)
 227                                 r = computed.rate();
 228                         return r;
 229                 }
 230
 231                 void set_measured(double new_value, double time) {
 232                         measured.set(new_value, time);
 233                 }
 234
 235                 void set_computed(double new_value, double time) {
 236                         computed.set(new_value, time);
 237                 }
 238
 239                 void set_derivative(AltosValue in) {
 240                         computed.set_derivative(in);
 241                 }
 242
 243                 void set_derivative(AltosCValue in) {
 244                         set_derivative(in.altos_value());
 245                 }
 246
 247                 void set_integral(AltosValue in) {
 248                         computed.set_integral(in);
 249                 }
 250
 251                 void set_integral(AltosCValue in) {
 252                         set_integral(in.altos_value());
 253                 }
 254
 255                 void copy(AltosCValue old) {
 256                         measured.copy(old.measured);
 257                         computed.copy(old.computed);
 258                 }
 259
 260                 void finish_update() {
 261                         measured.finish_update();
 262                         computed.finish_update();
 263                 }
 264
 265                 AltosCValue() {
 266                         measured = new AltosValue();
 267                         computed = new AltosValue();
 268                 }
 269         }
 270
 271         public int      state;
 272         public int      flight;
 273         public int      serial;
 274         public int      receiver_serial;
 275         public boolean  landed;
 276         public boolean  ascent; /* going up? */
 277         public boolean  boost;  /* under power */
 278         public int      rssi;
 279         public int      status;
 280         public int      device_type;
 281         public int      config_major;
 282         public int      config_minor;
 283         public int      apogee_delay;
 284         public int      main_deploy;
 285         public int      flight_log_max;
 286
 287         private double pressure_to_altitude(double p) {
 288                 if (p == AltosLib.MISSING)
 289                         return AltosLib.MISSING;
 290                 return AltosConvert.pressure_to_altitude(p);
 291         }
 292
 293         private AltosCValue ground_altitude;
 294
 295         public double ground_altitude() {
 296                 return ground_altitude.value();
 297         }
 298
 299         public void set_ground_altitude(double a) {
 300                 ground_altitude.set_measured(a, time);
 301         }
 302
 303         class AltosGpsGroundAltitude extends AltosValue {
 304                 void set(double a, double t) {
 305                         super.set(a, t);
 306                         pad_alt = value();
 307                         gps_altitude.set_gps_height();
 308                 }
 309
 310                 void set_filtered(double a, double t) {
 311                         super.set_filtered(a, t);
 312                         pad_alt = value();
 313                         gps_altitude.set_gps_height();
 314                 }
 315         }
 316
 317         private AltosGpsGroundAltitude gps_ground_altitude;
 318
 319         public double gps_ground_altitude() {
 320                 return gps_ground_altitude.value();
 321         }
 322
 323         public void set_gps_ground_altitude(double a) {
 324                 gps_ground_altitude.set(a, time);
 325         }
 326
 327         class AltosGroundPressure extends AltosCValue {
 328                 void set_filtered(double p, double time) {
 329                         computed.set_filtered(p, time);
 330                         if (!is_measured())
 331                                 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
 332                 }
 333
 334                 void set_measured(double p, double time) {
 335                         super.set_measured(p, time);
 336                         ground_altitude.set_computed(pressure_to_altitude(p), time);
 337                 }
 338         }
 339
 340         private AltosGroundPressure ground_pressure;
 341
 342         public double ground_pressure() {
 343                 return ground_pressure.value();
 344         }
 345
 346         public void set_ground_pressure (double pressure) {
 347                 ground_pressure.set_measured(pressure, time);
 348         }
 349
 350         class AltosAltitude extends AltosCValue {
 351
 352                 private void set_speed(AltosValue v) {
 353                         if (!acceleration.is_measured() || !ascent)
 354                                 speed.set_derivative(this);
 355                 }
 356
 357                 void set_computed(double a, double time) {
 358                         super.set_computed(a,time);
 359                         set_speed(computed);
 360                         set |= set_position;
 361                 }
 362
 363                 void set_measured(double a, double time) {
 364                         super.set_measured(a,time);
 365                         set_speed(measured);
 366                         set |= set_position;
 367                 }
 368         }
 369
 370         private AltosAltitude   altitude;
 371
 372         class AltosGpsAltitude extends AltosValue {
 373
 374                 private void set_gps_height() {
 375                         double  a = value();
 376                         double  g = gps_ground_altitude.value();
 377
 378                         if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 379                                 gps_height = a - g;
 380                         else
 381                                 gps_height = AltosLib.MISSING;
 382                 }
 383
 384                 void set(double a, double t) {
 385                         super.set(a, t);
 386                         set_gps_height();
 387                 }
 388         }
 389
 390         private AltosGpsAltitude        gps_altitude;
 391
 392         public double altitude() {
 393                 double a = altitude.value();
 394                 if (a != AltosLib.MISSING)
 395                         return a;
 396                 return gps_altitude.value();
 397         }
 398
 399         public double max_altitude() {
 400                 double a = altitude.max();
 401                 if (a != AltosLib.MISSING)
 402                         return a;
 403                 return gps_altitude.max();
 404         }
 405
 406         public void set_altitude(double new_altitude) {
 407                 altitude.set_measured(new_altitude, time);
 408         }
 409
 410         public double gps_altitude() {
 411                 return gps_altitude.value();
 412         }
 413
 414         public double max_gps_altitude() {
 415                 return gps_altitude.max();
 416         }
 417
 418         public void set_gps_altitude(double new_gps_altitude) {
 419                 gps_altitude.set(new_gps_altitude, time);
 420         }
 421
 422         class AltosPressure extends AltosValue {
 423                 void set(double p, double time) {
 424                         super.set(p, time);
 425                         if (state == AltosLib.ao_flight_pad)
 426                                 ground_pressure.set_filtered(p, time);
 427                         double a = pressure_to_altitude(p);
 428                         altitude.set_computed(a, time);
 429                 }
 430         }
 431
 432         private AltosPressure   pressure;
 433
 434         public double pressure() {
 435                 return pressure.value();
 436         }
 437
 438         public void set_pressure(double p) {
 439                 pressure.set(p, time);
 440         }
 441
 442         public double height() {
 443                 double k = kalman_height.value();
 444                 if (k != AltosLib.MISSING)
 445                         return k;
 446
 447                 double a = altitude();
 448                 double g = ground_altitude();
 449                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 450                         return a - g;
 451                 return AltosLib.MISSING;
 452         }
 453
 454         public double max_height() {
 455                 double  k = kalman_height.max();
 456                 if (k != AltosLib.MISSING)
 457                         return k;
 458
 459                 double a = altitude.max();
 460                 double g = ground_altitude();
 461                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 462                         return a - g;
 463                 return AltosLib.MISSING;
 464         }
 465
 466         public double gps_height() {
 467                 double a = gps_altitude();
 468                 double g = gps_ground_altitude();
 469
 470                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 471                         return a - g;
 472                 return AltosLib.MISSING;
 473         }
 474
 475         public double max_gps_height() {
 476                 double a = gps_altitude.max();
 477                 double g = gps_ground_altitude();
 478
 479                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 480                         return a - g;
 481                 return AltosLib.MISSING;
 482         }
 483
 484         class AltosSpeed extends AltosCValue {
 485
 486                 boolean can_max() {
 487                         return state < AltosLib.ao_flight_fast;
 488                 }
 489
 490                 void set_accel() {
 491                         acceleration.set_derivative(this);
 492                 }
 493
 494                 void set_derivative(AltosCValue in) {
 495                         super.set_derivative(in);
 496                         set_accel();
 497                 }
 498
 499                 void set_computed(double new_value, double time) {
 500                         super.set_computed(new_value, time);
 501                         set_accel();
 502                 }
 503
 504                 void set_measured(double new_value, double time) {
 505                         super.set_measured(new_value, time);
 506                         set_accel();
 507                 }
 508         }
 509
 510         private AltosSpeed speed;
 511
 512         public double speed() {
 513                 double v = kalman_speed.value();
 514                 if (v != AltosLib.MISSING)
 515                         return v;
 516                 return speed.value();
 517         }
 518
 519         public double max_speed() {
 520                 double v = kalman_speed.max();
 521                 if (v != AltosLib.MISSING)
 522                         return v;
 523                 return speed.max();
 524         }
 525
 526         class AltosAccel extends AltosCValue {
 527
 528                 boolean can_max() {
 529                         return state < AltosLib.ao_flight_fast;
 530                 }
 531
 532                 void set_measured(double a, double time) {
 533                         super.set_measured(a, time);
 534                         if (ascent)
 535                                 speed.set_integral(this.measured);
 536                 }
 537         }
 538
 539         AltosAccel acceleration;
 540
 541         public double acceleration() {
 542                 return acceleration.value();
 543         }
 544
 545         public double max_acceleration() {
 546                 return acceleration.max();
 547         }
 548
 549         public AltosValue       orient;
 550
 551         public void set_orient(double new_orient) {
 552                 orient.set(new_orient, time);
 553         }
 554
 555         public double orient() {
 556                 return orient.value();
 557         }
 558
 559         public double max_orient() {
 560                 return orient.max();
 561         }
 562
 563         public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 564
 565         public void set_kalman(double height, double speed, double acceleration) {
 566                 kalman_height.set(height, time);
 567                 kalman_speed.set(speed, time);
 568                 kalman_acceleration.set(acceleration, time);
 569         }
 570
 571         public double   battery_voltage;
 572         public double   pyro_voltage;
 573         public double   temperature;
 574         public double   apogee_voltage;
 575         public double   main_voltage;
 576
 577         public double   ignitor_voltage[];
 578
 579         public AltosGPS gps;
 580         public AltosGPS temp_gps;
 581         public int temp_gps_sat_tick;
 582         public boolean  gps_pending;
 583         public int gps_sequence;
 584
 585         public AltosIMU imu;
 586         public AltosMag mag;
 587
 588         public static final int MIN_PAD_SAMPLES = 10;
 589
 590         public int      npad;
 591         public int      gps_waiting;
 592         public boolean  gps_ready;
 593
 594         public int      ngps;
 595
 596         public AltosGreatCircle from_pad;
 597         public double   elevation;      /* from pad */
 598         public double   range;          /* total distance */
 599
 600         public double   gps_height;
 601
 602         public double pad_lat, pad_lon, pad_alt;
 603
 604         public int      speak_tick;
 605         public double   speak_altitude;
 606
 607         public String   callsign;
 608         public String   firmware_version;
 609
 610         public double   accel_plus_g;
 611         public double   accel_minus_g;
 612         public double   accel;
 613         public double   ground_accel;
 614         public double   ground_accel_avg;
 615
 616         public int      log_format;
 617
 618         public AltosMs5607      baro;
 619
 620         public AltosCompanion   companion;
 621
 622         public void set_npad(int npad) {
 623                 this.npad = npad;
 624                 gps_waiting = MIN_PAD_SAMPLES - npad;
 625                 if (this.gps_waiting < 0)
 626                         gps_waiting = 0;
 627                 gps_ready = gps_waiting == 0;
 628         }
 629
 630         public void init() {
 631                 set = 0;
 632
 633                 received_time = System.currentTimeMillis();
 634                 time = AltosLib.MISSING;
 635                 time_change = AltosLib.MISSING;
 636                 prev_time = AltosLib.MISSING;
 637                 tick = AltosLib.MISSING;
 638                 prev_tick = AltosLib.MISSING;
 639                 boost_tick = AltosLib.MISSING;
 640                 state = AltosLib.ao_flight_invalid;
 641                 flight = AltosLib.MISSING;
 642                 landed = false;
 643                 boost = false;
 644                 rssi = AltosLib.MISSING;
 645                 status = 0;
 646                 device_type = AltosLib.MISSING;
 647                 config_major = AltosLib.MISSING;
 648                 config_minor = AltosLib.MISSING;
 649                 apogee_delay = AltosLib.MISSING;
 650                 main_deploy = AltosLib.MISSING;
 651                 flight_log_max = AltosLib.MISSING;
 652
 653                 ground_altitude = new AltosCValue();
 654                 ground_pressure = new AltosGroundPressure();
 655                 altitude = new AltosAltitude();
 656                 pressure = new AltosPressure();
 657                 speed = new AltosSpeed();
 658                 acceleration = new AltosAccel();
 659                 orient = new AltosValue();
 660
 661                 temperature = AltosLib.MISSING;
 662                 battery_voltage = AltosLib.MISSING;
 663                 pyro_voltage = AltosLib.MISSING;
 664                 apogee_voltage = AltosLib.MISSING;
 665                 main_voltage = AltosLib.MISSING;
 666                 ignitor_voltage = null;
 667
 668                 kalman_height = new AltosValue();
 669                 kalman_speed = new AltosValue();
 670                 kalman_acceleration = new AltosValue();
 671
 672                 gps = null;
 673                 temp_gps = null;
 674                 temp_gps_sat_tick = 0;
 675                 gps_sequence = 0;
 676                 gps_pending = false;
 677
 678                 imu = null;
 679                 mag = null;
 680
 681                 set_npad(0);
 682                 ngps = 0;
 683
 684                 from_pad = null;
 685                 elevation = AltosLib.MISSING;
 686                 range = AltosLib.MISSING;
 687                 gps_height = AltosLib.MISSING;
 688
 689                 pad_lat = AltosLib.MISSING;
 690                 pad_lon = AltosLib.MISSING;
 691                 pad_alt = AltosLib.MISSING;
 692
 693                 gps_altitude = new AltosGpsAltitude();
 694                 gps_ground_altitude = new AltosGpsGroundAltitude();
 695
 696                 speak_tick = AltosLib.MISSING;
 697                 speak_altitude = AltosLib.MISSING;
 698
 699                 callsign = null;
 700
 701                 accel_plus_g = AltosLib.MISSING;
 702                 accel_minus_g = AltosLib.MISSING;
 703                 accel = AltosLib.MISSING;
 704
 705                 ground_accel = AltosLib.MISSING;
 706                 ground_accel_avg = AltosLib.MISSING;
 707
 708                 log_format = AltosLib.MISSING;
 709                 serial = AltosLib.MISSING;
 710                 receiver_serial = AltosLib.MISSING;
 711
 712                 baro = null;
 713                 companion = null;
 714         }
 715
 716         void finish_update() {
 717                 prev_tick = tick;
 718
 719                 ground_altitude.finish_update();
 720                 altitude.finish_update();
 721                 pressure.finish_update();
 722                 speed.finish_update();
 723                 acceleration.finish_update();
 724                 orient.finish_update();
 725
 726                 kalman_height.finish_update();
 727                 kalman_speed.finish_update();
 728                 kalman_acceleration.finish_update();
 729         }
 730
 731         void copy(AltosState old) {
 732
 733                 if (old == null) {
 734                         init();
 735                         return;
 736                 }
 737
 738                 received_time = old.received_time;
 739                 time = old.time;
 740                 time_change = old.time_change;
 741                 prev_time = old.time;
 742
 743                 tick = old.tick;
 744                 prev_tick = old.tick;
 745                 boost_tick = old.boost_tick;
 746
 747                 state = old.state;
 748                 flight = old.flight;
 749                 landed = old.landed;
 750                 ascent = old.ascent;
 751                 boost = old.boost;
 752                 rssi = old.rssi;
 753                 status = old.status;
 754                 device_type = old.device_type;
 755                 config_major = old.config_major;
 756                 config_minor = old.config_minor;
 757                 apogee_delay = old.apogee_delay;
 758                 main_deploy = old.main_deploy;
 759                 flight_log_max = old.flight_log_max;
 760
 761                 set = 0;
 762
 763                 ground_pressure.copy(old.ground_pressure);
 764                 ground_altitude.copy(old.ground_altitude);
 765                 altitude.copy(old.altitude);
 766                 pressure.copy(old.pressure);
 767                 speed.copy(old.speed);
 768                 acceleration.copy(old.acceleration);
 769                 orient.copy(old.orient);
 770
 771                 battery_voltage = old.battery_voltage;
 772                 pyro_voltage = old.pyro_voltage;
 773                 temperature = old.temperature;
 774                 apogee_voltage = old.apogee_voltage;
 775                 main_voltage = old.main_voltage;
 776                 ignitor_voltage = old.ignitor_voltage;
 777
 778                 kalman_height.copy(old.kalman_height);
 779                 kalman_speed.copy(old.kalman_speed);
 780                 kalman_acceleration.copy(old.kalman_acceleration);
 781
 782                 if (old.gps != null)
 783                         gps = old.gps.clone();
 784                 else
 785                         gps = null;
 786                 if (old.temp_gps != null)
 787                         temp_gps = old.temp_gps.clone();
 788                 else
 789                         temp_gps = null;
 790                 temp_gps_sat_tick = old.temp_gps_sat_tick;
 791                 gps_sequence = old.gps_sequence;
 792                 gps_pending = old.gps_pending;
 793
 794                 if (old.imu != null)
 795                         imu = old.imu.clone();
 796                 else
 797                         imu = null;
 798
 799                 if (old.mag != null)
 800                         mag = old.mag.clone();
 801                 else
 802                         mag = null;
 803
 804                 npad = old.npad;
 805                 gps_waiting = old.gps_waiting;
 806                 gps_ready = old.gps_ready;
 807                 ngps = old.ngps;
 808
 809                 if (old.from_pad != null)
 810                         from_pad = old.from_pad.clone();
 811                 else
 812                         from_pad = null;
 813
 814                 elevation = old.elevation;
 815                 range = old.range;
 816
 817                 gps_height = old.gps_height;
 818
 819                 gps_altitude.copy(old.gps_altitude);
 820                 gps_ground_altitude.copy(old.gps_ground_altitude);
 821
 822                 pad_lat = old.pad_lat;
 823                 pad_lon = old.pad_lon;
 824                 pad_alt = old.pad_alt;
 825
 826                 speak_tick = old.speak_tick;
 827                 speak_altitude = old.speak_altitude;
 828
 829                 callsign = old.callsign;
 830
 831                 accel_plus_g = old.accel_plus_g;
 832                 accel_minus_g = old.accel_minus_g;
 833                 accel = old.accel;
 834                 ground_accel = old.ground_accel;
 835                 ground_accel_avg = old.ground_accel_avg;
 836
 837                 log_format = old.log_format;
 838                 serial = old.serial;
 839                 receiver_serial = old.receiver_serial;
 840
 841                 baro = old.baro;
 842                 companion = old.companion;
 843         }
 844
 845         void update_time() {
 846         }
 847
 848         void update_gps() {
 849                 elevation = 0;
 850                 range = -1;
 851
 852                 if (gps == null)
 853                         return;
 854
 855                 if (gps.locked && gps.nsat >= 4) {
 856                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 857                         if (state == AltosLib.ao_flight_pad) {
 858                                 set_npad(npad+1);
 859                                 if (pad_lat != AltosLib.MISSING) {
 860                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
 861                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
 862                                         gps_ground_altitude.set_filtered(gps.alt, time);
 863                                 }
 864                         }
 865                         if (pad_lat == AltosLib.MISSING) {
 866                                 pad_lat = gps.lat;
 867                                 pad_lon = gps.lon;
 868                                 gps_ground_altitude.set(gps.alt, time);
 869                         }
 870                         gps_altitude.set(gps.alt, time);
 871                 }
 872                 if (gps.lat != 0 && gps.lon != 0 &&
 873                     pad_lat != AltosLib.MISSING &&
 874                     pad_lon != AltosLib.MISSING)
 875                 {
 876                         double h = height();
 877
 878                         if (h == AltosLib.MISSING)
 879                                 h = 0;
 880                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 881                         elevation = from_pad.elevation;
 882                         range = from_pad.range;
 883                 }
 884         }
 885
 886         public void set_tick(int new_tick) {
 887                 if (new_tick != AltosLib.MISSING) {
 888                         if (prev_tick != AltosLib.MISSING) {
 889                                 while (new_tick < prev_tick - 1000) {
 890                                         new_tick += 65536;
 891                                 }
 892                         }
 893                         tick = new_tick;
 894                         time = tick / 100.0;
 895                         time_change = time - prev_time;
 896                 }
 897         }
 898
 899         public void set_boost_tick(int boost_tick) {
 900                 if (boost_tick != AltosLib.MISSING)
 901                         this.boost_tick = boost_tick;
 902         }
 903
 904         public String state_name() {
 905                 return AltosLib.state_name(state);
 906         }
 907
 908         public void set_state(int state) {
 909                 if (state != AltosLib.ao_flight_invalid) {
 910                         this.state = state;
 911                         ascent = (AltosLib.ao_flight_boost <= state &&
 912                                   state <= AltosLib.ao_flight_coast);
 913                         boost = (AltosLib.ao_flight_boost == state);
 914                 }
 915
 916         }
 917
 918         public void set_device_type(int device_type) {
 919                 this.device_type = device_type;
 920         }
 921
 922         public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
 923                 config_major = major;
 924                 config_minor = minor;
 925                 this.apogee_delay = apogee_delay;
 926                 this.main_deploy = main_deploy;
 927                 this.flight_log_max = flight_log_max;
 928         }
 929
 930         public void set_callsign(String callsign) {
 931                 this.callsign = callsign;
 932         }
 933
 934         public void set_firmware_version(String version) {
 935                 firmware_version = version;
 936         }
 937
 938         public void set_flight(int flight) {
 939
 940                 /* When the flight changes, reset the state */
 941                 if (flight != AltosLib.MISSING && flight != 0) {
 942                         if (this.flight != AltosLib.MISSING &&
 943                             this.flight != flight) {
 944                                 int bt = boost_tick;
 945                                 init();
 946                                 boost_tick = bt;
 947                         }
 948                         this.flight = flight;
 949                 }
 950         }
 951
 952         public void set_serial(int serial) {
 953                 /* When the serial changes, reset the state */
 954                 if (serial != AltosLib.MISSING) {
 955                         if (this.serial != AltosLib.MISSING &&
 956                             this.serial != serial) {
 957                                 int bt = boost_tick;
 958                                 init();
 959                                 boost_tick = bt;
 960                         }
 961                         this.serial = serial;
 962                 }
 963         }
 964
 965         public void set_receiver_serial(int serial) {
 966                 if (serial != AltosLib.MISSING)
 967                         receiver_serial = serial;
 968         }
 969
 970         public int rssi() {
 971                 if (rssi == AltosLib.MISSING)
 972                         return 0;
 973                 return rssi;
 974         }
 975
 976         public void set_rssi(int rssi, int status) {
 977                 if (rssi != AltosLib.MISSING) {
 978                         this.rssi = rssi;
 979                         this.status = status;
 980                 }
 981         }
 982
 983         public void set_received_time(long ms) {
 984                 received_time = ms;
 985         }
 986
 987         public void set_gps(AltosGPS gps, int sequence) {
 988                 if (gps != null) {
 989                         this.gps = gps.clone();
 990                         gps_sequence = sequence;
 991                         update_gps();
 992                         set |= set_gps;
 993                 }
 994         }
 995
 996         public void set_imu(AltosIMU imu) {
 997                 if (imu != null)
 998                         imu = imu.clone();
 999                 this.imu = imu;
1000         }
1001
1002         public void set_mag(AltosMag mag) {
1003                 this.mag = mag.clone();
1004         }
1005
1006         public AltosMs5607 make_baro() {
1007                 if (baro == null)
1008                         baro = new AltosMs5607();
1009                 return baro;
1010         }
1011
1012         public void set_ms5607(AltosMs5607 ms5607) {
1013                 baro = ms5607;
1014
1015                 if (baro != null) {
1016                         set_pressure(baro.pa);
1017                         set_temperature(baro.cc / 100.0);
1018                 }
1019         }
1020
1021         public void set_ms5607(int pres, int temp) {
1022                 if (baro != null) {
1023                         baro.set(pres, temp);
1024
1025                         set_pressure(baro.pa);
1026                         set_temperature(baro.cc / 100.0);
1027                 }
1028         }
1029
1030         public void make_companion (int nchannels) {
1031                 if (companion == null)
1032                         companion = new AltosCompanion(nchannels);
1033         }
1034
1035         public void set_companion(AltosCompanion companion) {
1036                 this.companion = companion;
1037         }
1038
1039         void update_accel() {
1040                 if (accel == AltosLib.MISSING)
1041                         return;
1042                 if (accel_plus_g == AltosLib.MISSING)
1043                         return;
1044                 if (accel_minus_g == AltosLib.MISSING)
1045                         return;
1046
1047                 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
1048                 double counts_per_mss = counts_per_g / 9.80665;
1049                 acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
1050         }
1051
1052         public void set_accel_g(double accel_plus_g, double accel_minus_g) {
1053                 if (accel_plus_g != AltosLib.MISSING) {
1054                         this.accel_plus_g = accel_plus_g;
1055                         this.accel_minus_g = accel_minus_g;
1056                         update_accel();
1057                 }
1058         }
1059
1060         public void set_ground_accel(double ground_accel) {
1061                 if (ground_accel != AltosLib.MISSING)
1062                         this.ground_accel = ground_accel;
1063         }
1064
1065         public void set_accel(double accel) {
1066                 if (accel != AltosLib.MISSING) {
1067                         this.accel = accel;
1068                         if (state == AltosLib.ao_flight_pad) {
1069                                 if (ground_accel_avg == AltosLib.MISSING)
1070                                         ground_accel_avg = accel;
1071                                 else
1072                                         ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
1073                         }
1074                 }
1075                 update_accel();
1076         }
1077
1078         public void set_temperature(double temperature) {
1079                 if (temperature != AltosLib.MISSING) {
1080                         this.temperature = temperature;
1081                         set |= set_data;
1082                 }
1083         }
1084
1085         public void set_battery_voltage(double battery_voltage) {
1086                 if (battery_voltage != AltosLib.MISSING) {
1087                         this.battery_voltage = battery_voltage;
1088                         set |= set_data;
1089                 }
1090         }
1091
1092         public void set_pyro_voltage(double pyro_voltage) {
1093                 if (pyro_voltage != AltosLib.MISSING) {
1094                         this.pyro_voltage = pyro_voltage;
1095                         set |= set_data;
1096                 }
1097         }
1098
1099         public void set_apogee_voltage(double apogee_voltage) {
1100                 if (apogee_voltage != AltosLib.MISSING) {
1101                         this.apogee_voltage = apogee_voltage;
1102                         set |= set_data;
1103                 }
1104         }
1105
1106         public void set_main_voltage(double main_voltage) {
1107                 if (main_voltage != AltosLib.MISSING) {
1108                         this.main_voltage = main_voltage;
1109                         set |= set_data;
1110                 }
1111         }
1112
1113         public void set_ignitor_voltage(double[] voltage) {
1114                 this.ignitor_voltage = voltage;
1115         }
1116
1117         public double time_since_boost() {
1118                 if (tick == AltosLib.MISSING)
1119                         return 0.0;
1120
1121                 if (boost_tick == AltosLib.MISSING)
1122                         return tick / 100.0;
1123                 return (tick - boost_tick) / 100.0;
1124         }
1125
1126         public boolean valid() {
1127                 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1128         }
1129
1130         public AltosGPS make_temp_gps(boolean sats) {
1131                 if (temp_gps == null) {
1132                         temp_gps = new AltosGPS(gps);
1133                 }
1134                 gps_pending = true;
1135                 if (sats) {
1136                         if (tick != temp_gps_sat_tick)
1137                                 temp_gps.cc_gps_sat = null;
1138                         temp_gps_sat_tick = tick;
1139                 }
1140                 return temp_gps;
1141         }
1142
1143         public void set_temp_gps() {
1144                 set_gps(temp_gps, gps_sequence + 1);
1145                 gps_pending = false;
1146                 temp_gps = null;
1147         }
1148
1149         public AltosState clone() {
1150                 AltosState s = new AltosState();
1151                 s.copy(this);
1152                 return s;
1153         }
1154
1155         public AltosState () {
1156                 init();
1157         }
1158 }