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_11;
  23
  24 import java.io.*;
  25
  26 public class AltosState implements Cloneable, AltosHashable {
  27
  28         public static final int set_position = 1;
  29         public static final int set_gps = 2;
  30         public static final int set_data = 4;
  31
  32         public int set;
  33
  34         static final double filter_len = 2.0;
  35         static final double ascent_filter_len = 0.5;
  36         static final double descent_filter_len = 5.0;
  37
  38         /* derived data */
  39
  40         public long     received_time;
  41
  42         public double   time;
  43         public double   prev_time;
  44         public double   time_change;
  45         public int      tick;
  46         private int     prev_tick;
  47         public int      boost_tick;
  48
  49         class AltosValue implements AltosHashable {
  50                 double  value;
  51                 double  prev_value;
  52                 private double  max_value;
  53                 private double  set_time;
  54                 private double  prev_set_time;
  55
  56                 boolean can_max() { return true; }
  57
  58                 void set(double new_value, double time) {
  59                         if (new_value != AltosLib.MISSING) {
  60                                 value = new_value;
  61                                 if (can_max() && (max_value == AltosLib.MISSING || value > max_value))
  62                                         max_value = value;
  63                                 set_time = time;
  64                         }
  65                 }
  66
  67                 void set_filtered(double new_value, double time) {
  68                         if (prev_value != AltosLib.MISSING) {
  69                                 double f = 1/Math.exp((time - prev_set_time) / filter_len);
  70                                 new_value = f * new_value + (1-f) * prev_value;
  71                         }
  72                         set(new_value, time);
  73                 }
  74
  75                 double value() {
  76                         return value;
  77                 }
  78
  79                 double max() {
  80                         return max_value;
  81                 }
  82
  83                 double prev() {
  84                         return prev_value;
  85                 }
  86
  87                 double change() {
  88                         if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
  89                                 return value - prev_value;
  90                         return AltosLib.MISSING;
  91                 }
  92
  93                 double rate() {
  94                         double c = change();
  95                         double t = set_time - prev_set_time;
  96
  97                         if (c != AltosLib.MISSING && t != 0)
  98                                 return c / t;
  99                         return AltosLib.MISSING;
 100                 }
 101
 102                 double integrate() {
 103                         if (value == AltosLib.MISSING)
 104                                 return AltosLib.MISSING;
 105                         if (prev_value == AltosLib.MISSING)
 106                                 return AltosLib.MISSING;
 107
 108                         return (value + prev_value) / 2 * (set_time - prev_set_time);
 109                 }
 110
 111                 double time() {
 112                         return set_time;
 113                 }
 114
 115                 void set_derivative(AltosValue in) {
 116                         double  n = in.rate();
 117
 118                         if (n == AltosLib.MISSING)
 119                                 return;
 120
 121                         double  p = prev_value;
 122                         double  pt = prev_set_time;
 123
 124                         if (p == AltosLib.MISSING) {
 125                                 p = 0;
 126                                 pt = in.time() - 0.01;
 127                         }
 128
 129                         /* Clip changes to reduce noise */
 130                         double  ddt = in.time() - pt;
 131                         double  ddv = (n - p) / ddt;
 132
 133                         final double max = 100000;
 134
 135                         /* 100gs */
 136                         if (Math.abs(ddv) > max) {
 137                                 if (n > p)
 138                                         n = p + ddt * max;
 139                                 else
 140                                         n = p - ddt * max;
 141                         }
 142
 143                         double filter_len;
 144
 145                         if (ascent)
 146                                 filter_len = ascent_filter_len;
 147                         else
 148                                 filter_len = descent_filter_len;
 149
 150                         double f = 1/Math.exp(ddt/ filter_len);
 151                         n = p * f + n * (1-f);
 152
 153                         set(n, in.time());
 154                 }
 155
 156                 void set_integral(AltosValue in) {
 157                         double  change = in.integrate();
 158
 159                         if (change != AltosLib.MISSING) {
 160                                 double  prev = prev_value;
 161                                 if (prev == AltosLib.MISSING)
 162                                         prev = 0;
 163                                 set(prev + change, in.time());
 164                         }
 165                 }
 166
 167                 void copy(AltosValue old) {
 168                         value = old.value;
 169                         set_time = old.set_time;
 170                         prev_value = old.value;
 171                         prev_set_time = old.set_time;
 172                         max_value = old.max_value;
 173                 }
 174
 175                 void finish_update() {
 176                         prev_value = value;
 177                         prev_set_time = set_time;
 178                 }
 179
 180                 public AltosHashSet hashSet() {
 181                         AltosHashSet h = new AltosHashSet();
 182
 183                         h.putDouble("value", value);
 184                         h.putDouble("prev_value", prev_value);
 185                         h.putDouble("max_value", max_value);
 186                         h.putDouble("set_time", set_time);
 187                         h.putDouble("prev_set_time", prev_set_time);
 188                         return h;
 189                 }
 190
 191                 AltosValue(AltosHashSet h) {
 192                         this();
 193                         if (h != null) {
 194                                 value = h.getDouble("value", value);
 195                                 prev_value = h.getDouble("prev_value", prev_value);
 196                                 max_value = h.getDouble("max_value", max_value);
 197                                 set_time = h.getDouble("set_time", 0);
 198                                 prev_set_time = h.getDouble("prev_set_time", 0);
 199                         }
 200                 }
 201
 202                 AltosValue() {
 203                         value = AltosLib.MISSING;
 204                         prev_value = AltosLib.MISSING;
 205                         max_value = AltosLib.MISSING;
 206                 }
 207
 208         }
 209
 210         AltosValue AltosValue_fromHashSet(AltosHashSet h, AltosValue def) {
 211                 if (h == null)
 212                         return def;
 213                 return new AltosValue(h);
 214         }
 215
 216         class AltosCValue implements AltosHashable {
 217
 218                 class AltosIValue extends AltosValue implements AltosHashable {
 219                         boolean can_max() {
 220                                 return c_can_max();
 221                         }
 222
 223                         AltosIValue() {
 224                                 super();
 225                         }
 226
 227                         AltosIValue(AltosHashSet h) {
 228                                 super(h);
 229                         }
 230                 };
 231
 232                 public AltosIValue      measured;
 233                 public AltosIValue      computed;
 234
 235                 boolean can_max() { return true; }
 236
 237                 boolean c_can_max() { return can_max(); }
 238
 239                 double value() {
 240                         double v = measured.value();
 241                         if (v != AltosLib.MISSING)
 242                                 return v;
 243                         return computed.value();
 244                 }
 245
 246                 boolean is_measured() {
 247                         return measured.value() != AltosLib.MISSING;
 248                 }
 249
 250                 double max() {
 251                         double m = measured.max();
 252
 253                         if (m != AltosLib.MISSING)
 254                                 return m;
 255                         return computed.max();
 256                 }
 257
 258                 double prev_value() {
 259                         if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
 260                                 return measured.prev_value;
 261                         return computed.prev_value;
 262                 }
 263
 264                 AltosValue altos_value() {
 265                         if (measured.value() != AltosLib.MISSING)
 266                                 return measured;
 267                         return computed;
 268                 }
 269
 270                 double change() {
 271                         double c = measured.change();
 272                         if (c == AltosLib.MISSING)
 273                                 c = computed.change();
 274                         return c;
 275                 }
 276
 277                 double rate() {
 278                         double r = measured.rate();
 279                         if (r == AltosLib.MISSING)
 280                                 r = computed.rate();
 281                         return r;
 282                 }
 283
 284                 void set_measured(double new_value, double time) {
 285                         measured.set(new_value, time);
 286                 }
 287
 288                 void set_computed(double new_value, double time) {
 289                         computed.set(new_value, time);
 290                 }
 291
 292                 void set_derivative(AltosValue in) {
 293                         computed.set_derivative(in);
 294                 }
 295
 296                 void set_derivative(AltosCValue in) {
 297                         set_derivative(in.altos_value());
 298                 }
 299
 300                 void set_integral(AltosValue in) {
 301                         computed.set_integral(in);
 302                 }
 303
 304                 void set_integral(AltosCValue in) {
 305                         set_integral(in.altos_value());
 306                 }
 307
 308                 void copy(AltosCValue old) {
 309                         measured.copy(old.measured);
 310                         computed.copy(old.computed);
 311                 }
 312
 313                 void finish_update() {
 314                         measured.finish_update();
 315                         computed.finish_update();
 316                 }
 317
 318                 AltosCValue() {
 319                         measured = new AltosIValue();
 320                         computed = new AltosIValue();
 321                 }
 322
 323
 324                 public AltosHashSet hashSet() {
 325                         AltosHashSet h = new AltosHashSet();
 326
 327                         h.putHashable("measured", measured);
 328                         h.putHashable("computed", computed);
 329                         return h;
 330                 }
 331
 332                 AltosCValue(AltosHashSet h) {
 333                         measured = new AltosIValue(h.getHash("measured"));
 334                         computed = new AltosIValue(h.getHash("computed"));
 335                 }
 336         }
 337
 338         AltosCValue AltosCValue_fromHashSet(AltosHashSet h, AltosCValue def) {
 339                 if (h == null)
 340                         return def;
 341                 return new AltosCValue(h);
 342         }
 343
 344         private int     state;
 345         public int      flight;
 346         public int      serial;
 347         public int      altitude_32;
 348         public int      receiver_serial;
 349         public boolean  landed;
 350         public boolean  ascent; /* going up? */
 351         public boolean  boost;  /* under power */
 352         public int      rssi;
 353         public int      status;
 354         public int      device_type;
 355         public int      config_major;
 356         public int      config_minor;
 357         public int      apogee_delay;
 358         public int      main_deploy;
 359         public int      flight_log_max;
 360
 361         private double pressure_to_altitude(double p) {
 362                 if (p == AltosLib.MISSING)
 363                         return AltosLib.MISSING;
 364                 return AltosConvert.pressure_to_altitude(p);
 365         }
 366
 367         private AltosCValue ground_altitude;
 368
 369         public double ground_altitude() {
 370                 return ground_altitude.value();
 371         }
 372
 373         public void set_ground_altitude(double a) {
 374                 ground_altitude.set_measured(a, time);
 375         }
 376
 377         class AltosGpsGroundAltitude extends AltosValue {
 378                 void set(double a, double t) {
 379                         super.set(a, t);
 380                         pad_alt = value();
 381                         gps_altitude.set_gps_height();
 382                 }
 383
 384                 void set_filtered(double a, double t) {
 385                         super.set_filtered(a, t);
 386                         pad_alt = value();
 387                         gps_altitude.set_gps_height();
 388                 }
 389
 390                 AltosGpsGroundAltitude() {
 391                         super();
 392                 }
 393
 394                 AltosGpsGroundAltitude (AltosHashSet h) {
 395                         super(h);
 396                 }
 397         }
 398
 399         AltosGpsGroundAltitude AltosGpsGroundAltitude_fromHashSet(AltosHashSet h, AltosGpsGroundAltitude def) {
 400                 if (h == null) return def;
 401                 return new AltosGpsGroundAltitude(h);
 402         }
 403
 404         private AltosGpsGroundAltitude gps_ground_altitude;
 405
 406         public double gps_ground_altitude() {
 407                 return gps_ground_altitude.value();
 408         }
 409
 410         public void set_gps_ground_altitude(double a) {
 411                 gps_ground_altitude.set(a, time);
 412         }
 413
 414         class AltosGroundPressure extends AltosCValue {
 415                 void set_filtered(double p, double time) {
 416                         computed.set_filtered(p, time);
 417                         if (!is_measured())
 418                                 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
 419                 }
 420
 421                 void set_measured(double p, double time) {
 422                         super.set_measured(p, time);
 423                         ground_altitude.set_computed(pressure_to_altitude(p), time);
 424                 }
 425
 426                 AltosGroundPressure () {
 427                         super();
 428                 }
 429
 430                 AltosGroundPressure (AltosHashSet h) {
 431                         super(h);
 432                 }
 433         }
 434
 435         AltosGroundPressure AltosGroundPressure_fromHashSet(AltosHashSet h, AltosGroundPressure def) {
 436                 if (h == null) return def;
 437                 return new AltosGroundPressure(h);
 438         }
 439
 440         private AltosGroundPressure ground_pressure;
 441
 442         public double ground_pressure() {
 443                 return ground_pressure.value();
 444         }
 445
 446         public void set_ground_pressure (double pressure) {
 447                 ground_pressure.set_measured(pressure, time);
 448         }
 449
 450         class AltosAltitude extends AltosCValue implements AltosHashable {
 451
 452                 private void set_speed(AltosValue v) {
 453                         if (!acceleration.is_measured() || !ascent)
 454                                 speed.set_derivative(this);
 455                 }
 456
 457                 void set_computed(double a, double time) {
 458                         super.set_computed(a,time);
 459                         set_speed(computed);
 460                         set |= set_position;
 461                 }
 462
 463                 void set_measured(double a, double time) {
 464                         super.set_measured(a,time);
 465                         set_speed(measured);
 466                         set |= set_position;
 467                 }
 468
 469                 AltosAltitude() {
 470                         super();
 471                 }
 472
 473                 AltosAltitude (AltosHashSet h) {
 474                         super(h);
 475                 }
 476         }
 477
 478         AltosAltitude AltosAltitude_fromHashSet(AltosHashSet h, AltosAltitude def) {
 479                 if (h == null) return def;
 480                 return new AltosAltitude(h);
 481         }
 482
 483         private AltosAltitude   altitude;
 484
 485         class AltosGpsAltitude extends AltosValue implements AltosHashable {
 486
 487                 private void set_gps_height() {
 488                         double  a = value();
 489                         double  g = gps_ground_altitude.value();
 490
 491                         if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 492                                 gps_height = a - g;
 493                         else
 494                                 gps_height = AltosLib.MISSING;
 495                 }
 496
 497                 void set(double a, double t) {
 498                         super.set(a, t);
 499                         set_gps_height();
 500                 }
 501
 502                 AltosGpsAltitude() {
 503                         super();
 504                 }
 505
 506                 AltosGpsAltitude (AltosHashSet h) {
 507                         super(h);
 508                 }
 509         }
 510
 511         AltosGpsAltitude AltosGpsAltitude_fromHashSet(AltosHashSet h, AltosGpsAltitude def) {
 512                 if (h == null) return def;
 513                 return new AltosGpsAltitude(h);
 514         }
 515
 516         private AltosGpsAltitude        gps_altitude;
 517
 518         private AltosValue              gps_ground_speed;
 519         private AltosValue              gps_ascent_rate;
 520         private AltosValue              gps_course;
 521         private AltosValue              gps_speed;
 522
 523         public double altitude() {
 524                 double a = altitude.value();
 525                 if (a != AltosLib.MISSING)
 526                         return a;
 527                 return gps_altitude.value();
 528         }
 529
 530         public double max_altitude() {
 531                 double a = altitude.max();
 532                 if (a != AltosLib.MISSING)
 533                         return a;
 534                 return gps_altitude.max();
 535         }
 536
 537         public void set_altitude(double new_altitude) {
 538                 altitude.set_measured(new_altitude, time);
 539         }
 540
 541         public double gps_altitude() {
 542                 return gps_altitude.value();
 543         }
 544
 545         public double max_gps_altitude() {
 546                 return gps_altitude.max();
 547         }
 548
 549         public void set_gps_altitude(double new_gps_altitude) {
 550                 gps_altitude.set(new_gps_altitude, time);
 551         }
 552
 553         public double gps_ground_speed() {
 554                 return gps_ground_speed.value();
 555         }
 556
 557         public double max_gps_ground_speed() {
 558                 return gps_ground_speed.max();
 559         }
 560
 561         public double gps_ascent_rate() {
 562                 return gps_ascent_rate.value();
 563         }
 564
 565         public double max_gps_ascent_rate() {
 566                 return gps_ascent_rate.max();
 567         }
 568
 569         public double gps_course() {
 570                 return gps_course.value();
 571         }
 572
 573         public double gps_speed() {
 574                 return gps_speed.value();
 575         }
 576
 577         public double max_gps_speed() {
 578                 return gps_speed.max();
 579         }
 580
 581         class AltosPressure extends AltosValue {
 582                 void set(double p, double time) {
 583                         super.set(p, time);
 584                         if (state == AltosLib.ao_flight_pad)
 585                                 ground_pressure.set_filtered(p, time);
 586                         double a = pressure_to_altitude(p);
 587                         altitude.set_computed(a, time);
 588                 }
 589
 590                 AltosPressure() {
 591                         super();
 592                 }
 593
 594                 AltosPressure (AltosHashSet h) {
 595                         super(h);
 596                 }
 597         }
 598
 599         AltosPressure AltosPressure_fromHashSet(AltosHashSet h, AltosPressure def) {
 600                 if (h == null) return def;
 601                 return new AltosPressure(h);
 602         }
 603
 604         private AltosPressure   pressure;
 605
 606         public double pressure() {
 607                 return pressure.value();
 608         }
 609
 610         public void set_pressure(double p) {
 611                 pressure.set(p, time);
 612         }
 613
 614         public double baro_height() {
 615                 double a = altitude();
 616                 double g = ground_altitude();
 617                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 618                         return a - g;
 619                 return AltosLib.MISSING;
 620         }
 621
 622         public double height() {
 623                 double k = kalman_height.value();
 624                 if (k != AltosLib.MISSING)
 625                         return k;
 626
 627                 double b = baro_height();
 628                 if (b != AltosLib.MISSING)
 629                         return b;
 630
 631                 return gps_height();
 632         }
 633
 634         public double max_height() {
 635                 double  k = kalman_height.max();
 636                 if (k != AltosLib.MISSING)
 637                         return k;
 638
 639                 double a = altitude.max();
 640                 double g = ground_altitude();
 641                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 642                         return a - g;
 643                 return max_gps_height();
 644         }
 645
 646         public double gps_height() {
 647                 double a = gps_altitude();
 648                 double g = gps_ground_altitude();
 649
 650                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 651                         return a - g;
 652                 return AltosLib.MISSING;
 653         }
 654
 655         public double max_gps_height() {
 656                 double a = gps_altitude.max();
 657                 double g = gps_ground_altitude();
 658
 659                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 660                         return a - g;
 661                 return AltosLib.MISSING;
 662         }
 663
 664         class AltosSpeed extends AltosCValue implements AltosHashable {
 665
 666                 boolean can_max() {
 667                         return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
 668                 }
 669
 670                 void set_accel() {
 671                         acceleration.set_derivative(this);
 672                 }
 673
 674                 void set_derivative(AltosCValue in) {
 675                         super.set_derivative(in);
 676                         set_accel();
 677                 }
 678
 679                 void set_computed(double new_value, double time) {
 680                         super.set_computed(new_value, time);
 681                         set_accel();
 682                 }
 683
 684                 void set_measured(double new_value, double time) {
 685                         super.set_measured(new_value, time);
 686                         set_accel();
 687                 }
 688
 689                 AltosSpeed() {
 690                         super();
 691                 }
 692
 693                 AltosSpeed (AltosHashSet h) {
 694                         super(h);
 695                 }
 696         }
 697
 698         AltosSpeed AltosSpeed_fromHashSet(AltosHashSet h, AltosSpeed def) {
 699                 if (h == null) return def;
 700                 return new AltosSpeed(h);
 701         }
 702
 703         private AltosSpeed speed;
 704
 705         public double speed() {
 706                 double v = kalman_speed.value();
 707                 if (v != AltosLib.MISSING)
 708                         return v;
 709                 v = speed.value();
 710                 if (v != AltosLib.MISSING)
 711                         return v;
 712                 v = gps_speed();
 713                 if (v != AltosLib.MISSING)
 714                         return v;
 715                 return AltosLib.MISSING;
 716         }
 717
 718         public double max_speed() {
 719                 double v = kalman_speed.max();
 720                 if (v != AltosLib.MISSING)
 721                         return v;
 722                 v = speed.max();
 723                 if (v != AltosLib.MISSING)
 724                         return v;
 725                 v = max_gps_speed();
 726                 if (v != AltosLib.MISSING)
 727                         return v;
 728                 return AltosLib.MISSING;
 729         }
 730
 731         class AltosAccel extends AltosCValue implements AltosHashable {
 732
 733                 boolean can_max() {
 734                         return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
 735                 }
 736
 737                 void set_measured(double a, double time) {
 738                         super.set_measured(a, time);
 739                         if (ascent)
 740                                 speed.set_integral(this.measured);
 741                 }
 742
 743                 AltosAccel() {
 744                         super();
 745                 }
 746
 747                 AltosAccel (AltosHashSet h) {
 748                         super(h);
 749                 }
 750         }
 751
 752         AltosAccel AltosAccel_fromHashSet(AltosHashSet h, AltosAccel def) {
 753                 if (h == null) return def;
 754                 return new AltosAccel(h);
 755         }
 756
 757         AltosAccel acceleration;
 758
 759         public double acceleration() {
 760                 return acceleration.value();
 761         }
 762
 763         public double max_acceleration() {
 764                 return acceleration.max();
 765         }
 766
 767         public AltosCValue      orient;
 768
 769         public void set_orient(double new_orient) {
 770                 orient.set_measured(new_orient, time);
 771         }
 772
 773         public double orient() {
 774                 return orient.value();
 775         }
 776
 777         public double max_orient() {
 778                 return orient.max();
 779         }
 780
 781         public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 782
 783         public void set_kalman(double height, double speed, double acceleration) {
 784                 kalman_height.set(height, time);
 785                 kalman_speed.set(speed, time);
 786                 kalman_acceleration.set(acceleration, time);
 787         }
 788
 789         public double   battery_voltage;
 790         public double   pyro_voltage;
 791         public double   temperature;
 792         public double   apogee_voltage;
 793         public double   main_voltage;
 794
 795         public double   ignitor_voltage[];
 796
 797         public AltosGPS gps;
 798         public AltosGPS temp_gps;
 799         public int temp_gps_sat_tick;
 800         public boolean  gps_pending;
 801         public int gps_sequence;
 802
 803         public AltosIMU imu;
 804         public AltosMag mag;
 805
 806         public static final int MIN_PAD_SAMPLES = 10;
 807
 808         public int      npad;
 809         public int      gps_waiting;
 810         public boolean  gps_ready;
 811
 812         public int      ngps;
 813
 814         public AltosGreatCircle from_pad;
 815         public double   elevation;      /* from pad */
 816         public double   range;          /* total distance */
 817
 818         public double   gps_height;
 819
 820         public double pad_lat, pad_lon, pad_alt;
 821
 822         public int      speak_tick;
 823         public double   speak_altitude;
 824
 825         public String   callsign;
 826         public String   firmware_version;
 827
 828         public double   accel_plus_g;
 829         public double   accel_minus_g;
 830         public double   accel;
 831         public double   ground_accel;
 832         public double   ground_accel_avg;
 833
 834         public int      log_format;
 835         public String   product;
 836
 837         public AltosMs5607      baro;
 838
 839         public AltosCompanion   companion;
 840
 841         public int      pyro_fired;
 842
 843         public void set_npad(int npad) {
 844                 this.npad = npad;
 845                 gps_waiting = MIN_PAD_SAMPLES - npad;
 846                 if (this.gps_waiting < 0)
 847                         gps_waiting = 0;
 848                 gps_ready = gps_waiting == 0;
 849         }
 850
 851         public void init() {
 852                 set = 0;
 853
 854                 received_time = System.currentTimeMillis();
 855                 time = AltosLib.MISSING;
 856                 time_change = AltosLib.MISSING;
 857                 prev_time = AltosLib.MISSING;
 858                 tick = AltosLib.MISSING;
 859                 prev_tick = AltosLib.MISSING;
 860                 boost_tick = AltosLib.MISSING;
 861                 state = AltosLib.ao_flight_invalid;
 862                 flight = AltosLib.MISSING;
 863                 landed = false;
 864                 boost = false;
 865                 rssi = AltosLib.MISSING;
 866                 status = 0;
 867                 device_type = AltosLib.MISSING;
 868                 config_major = AltosLib.MISSING;
 869                 config_minor = AltosLib.MISSING;
 870                 apogee_delay = AltosLib.MISSING;
 871                 main_deploy = AltosLib.MISSING;
 872                 flight_log_max = AltosLib.MISSING;
 873
 874                 ground_altitude = new AltosCValue();
 875                 ground_pressure = new AltosGroundPressure();
 876                 altitude = new AltosAltitude();
 877                 pressure = new AltosPressure();
 878                 speed = new AltosSpeed();
 879                 acceleration = new AltosAccel();
 880                 orient = new AltosCValue();
 881
 882                 temperature = AltosLib.MISSING;
 883                 battery_voltage = AltosLib.MISSING;
 884                 pyro_voltage = AltosLib.MISSING;
 885                 apogee_voltage = AltosLib.MISSING;
 886                 main_voltage = AltosLib.MISSING;
 887                 ignitor_voltage = null;
 888
 889                 kalman_height = new AltosValue();
 890                 kalman_speed = new AltosValue();
 891                 kalman_acceleration = new AltosValue();
 892
 893                 gps = null;
 894                 temp_gps = null;
 895                 temp_gps_sat_tick = 0;
 896                 gps_sequence = 0;
 897                 gps_pending = false;
 898
 899                 imu = null;
 900                 last_imu_time = AltosLib.MISSING;
 901                 rotation = null;
 902                 ground_rotation = null;
 903
 904                 mag = null;
 905                 accel_zero_along = AltosLib.MISSING;
 906                 accel_zero_across = AltosLib.MISSING;
 907                 accel_zero_through = AltosLib.MISSING;
 908
 909                 accel_ground_along = AltosLib.MISSING;
 910                 accel_ground_across = AltosLib.MISSING;
 911                 accel_ground_through = AltosLib.MISSING;
 912
 913                 pad_orientation = AltosLib.MISSING;
 914
 915                 gyro_zero_roll = AltosLib.MISSING;
 916                 gyro_zero_pitch = AltosLib.MISSING;
 917                 gyro_zero_yaw = AltosLib.MISSING;
 918
 919                 set_npad(0);
 920                 ngps = 0;
 921
 922                 from_pad = null;
 923                 elevation = AltosLib.MISSING;
 924                 range = AltosLib.MISSING;
 925                 gps_height = AltosLib.MISSING;
 926
 927                 pad_lat = AltosLib.MISSING;
 928                 pad_lon = AltosLib.MISSING;
 929                 pad_alt = AltosLib.MISSING;
 930
 931                 gps_altitude = new AltosGpsAltitude();
 932                 gps_ground_altitude = new AltosGpsGroundAltitude();
 933                 gps_ground_speed = new AltosValue();
 934                 gps_speed = new AltosValue();
 935                 gps_ascent_rate = new AltosValue();
 936                 gps_course = new AltosValue();
 937
 938                 speak_tick = AltosLib.MISSING;
 939                 speak_altitude = AltosLib.MISSING;
 940
 941                 callsign = null;
 942                 firmware_version = null;
 943
 944                 accel_plus_g = AltosLib.MISSING;
 945                 accel_minus_g = AltosLib.MISSING;
 946                 accel = AltosLib.MISSING;
 947
 948                 ground_accel = AltosLib.MISSING;
 949                 ground_accel_avg = AltosLib.MISSING;
 950
 951                 log_format = AltosLib.MISSING;
 952                 product = null;
 953                 serial = AltosLib.MISSING;
 954                 receiver_serial = AltosLib.MISSING;
 955                 altitude_32 = AltosLib.MISSING;
 956
 957                 baro = null;
 958                 companion = null;
 959
 960                 pyro_fired = 0;
 961         }
 962
 963         void finish_update() {
 964                 prev_tick = tick;
 965
 966                 ground_altitude.finish_update();
 967                 altitude.finish_update();
 968                 pressure.finish_update();
 969                 speed.finish_update();
 970                 acceleration.finish_update();
 971                 orient.finish_update();
 972
 973                 kalman_height.finish_update();
 974                 kalman_speed.finish_update();
 975                 kalman_acceleration.finish_update();
 976         }
 977
 978         void copy(AltosState old) {
 979
 980                 if (old == null) {
 981                         init();
 982                         return;
 983                 }
 984
 985                 received_time = old.received_time;
 986                 time = old.time;
 987                 time_change = old.time_change;
 988                 prev_time = old.time;
 989
 990                 tick = old.tick;
 991                 prev_tick = old.tick;
 992                 boost_tick = old.boost_tick;
 993
 994                 state = old.state;
 995                 flight = old.flight;
 996                 landed = old.landed;
 997                 ascent = old.ascent;
 998                 boost = old.boost;
 999                 rssi = old.rssi;
1000                 status = old.status;
1001                 device_type = old.device_type;
1002                 config_major = old.config_major;
1003                 config_minor = old.config_minor;
1004                 apogee_delay = old.apogee_delay;
1005                 main_deploy = old.main_deploy;
1006                 flight_log_max = old.flight_log_max;
1007
1008                 set = 0;
1009
1010                 ground_pressure.copy(old.ground_pressure);
1011                 ground_altitude.copy(old.ground_altitude);
1012                 altitude.copy(old.altitude);
1013                 pressure.copy(old.pressure);
1014                 speed.copy(old.speed);
1015                 acceleration.copy(old.acceleration);
1016                 orient.copy(old.orient);
1017
1018                 battery_voltage = old.battery_voltage;
1019                 pyro_voltage = old.pyro_voltage;
1020                 temperature = old.temperature;
1021                 apogee_voltage = old.apogee_voltage;
1022                 main_voltage = old.main_voltage;
1023                 ignitor_voltage = old.ignitor_voltage;
1024
1025                 kalman_height.copy(old.kalman_height);
1026                 kalman_speed.copy(old.kalman_speed);
1027                 kalman_acceleration.copy(old.kalman_acceleration);
1028
1029                 if (old.gps != null)
1030                         gps = old.gps.clone();
1031                 else
1032                         gps = null;
1033                 if (old.temp_gps != null)
1034                         temp_gps = old.temp_gps.clone();
1035                 else
1036                         temp_gps = null;
1037                 temp_gps_sat_tick = old.temp_gps_sat_tick;
1038                 gps_sequence = old.gps_sequence;
1039                 gps_pending = old.gps_pending;
1040
1041                 if (old.imu != null)
1042                         imu = old.imu.clone();
1043                 else
1044                         imu = null;
1045                 last_imu_time = old.last_imu_time;
1046
1047                 if (old.rotation != null)
1048                         rotation = new AltosRotation (old.rotation);
1049
1050                 if (old.ground_rotation != null) {
1051                         ground_rotation = new AltosRotation(old.ground_rotation);
1052                 }
1053
1054                 accel_zero_along = old.accel_zero_along;
1055                 accel_zero_across = old.accel_zero_across;
1056                 accel_zero_through = old.accel_zero_through;
1057
1058                 accel_ground_along = old.accel_ground_along;
1059                 accel_ground_across = old.accel_ground_across;
1060                 accel_ground_through = old.accel_ground_through;
1061                 pad_orientation = old.pad_orientation;
1062
1063                 gyro_zero_roll = old.gyro_zero_roll;
1064                 gyro_zero_pitch = old.gyro_zero_pitch;
1065                 gyro_zero_yaw = old.gyro_zero_yaw;
1066
1067                 if (old.mag != null)
1068                         mag = old.mag.clone();
1069                 else
1070                         mag = null;
1071
1072                 npad = old.npad;
1073                 gps_waiting = old.gps_waiting;
1074                 gps_ready = old.gps_ready;
1075                 ngps = old.ngps;
1076
1077                 if (old.from_pad != null)
1078                         from_pad = old.from_pad.clone();
1079                 else
1080                         from_pad = null;
1081
1082                 elevation = old.elevation;
1083                 range = old.range;
1084
1085                 gps_height = old.gps_height;
1086
1087                 gps_altitude.copy(old.gps_altitude);
1088                 gps_ground_altitude.copy(old.gps_ground_altitude);
1089                 gps_ground_speed.copy(old.gps_ground_speed);
1090                 gps_ascent_rate.copy(old.gps_ascent_rate);
1091                 gps_course.copy(old.gps_course);
1092                 gps_speed.copy(old.gps_speed);
1093
1094                 pad_lat = old.pad_lat;
1095                 pad_lon = old.pad_lon;
1096                 pad_alt = old.pad_alt;
1097
1098                 speak_tick = old.speak_tick;
1099                 speak_altitude = old.speak_altitude;
1100
1101                 callsign = old.callsign;
1102                 firmware_version = old.firmware_version;
1103
1104                 accel_plus_g = old.accel_plus_g;
1105                 accel_minus_g = old.accel_minus_g;
1106                 accel = old.accel;
1107                 ground_accel = old.ground_accel;
1108                 ground_accel_avg = old.ground_accel_avg;
1109
1110                 log_format = old.log_format;
1111                 product = old.product;
1112                 serial = old.serial;
1113                 receiver_serial = old.receiver_serial;
1114                 altitude_32 = old.altitude_32;
1115
1116                 baro = old.baro;
1117                 companion = old.companion;
1118
1119                 pyro_fired = old.pyro_fired;
1120         }
1121
1122         void update_time() {
1123         }
1124
1125         void update_gps() {
1126                 elevation = AltosLib.MISSING;
1127                 range = AltosLib.MISSING;
1128
1129                 if (gps == null)
1130                         return;
1131
1132                 if (gps.locked && gps.nsat >= 4) {
1133                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
1134                         if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) {
1135                                 set_npad(npad+1);
1136                                 if (pad_lat != AltosLib.MISSING && (npad < 10 || state == AltosLib.ao_flight_pad)) {
1137                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
1138                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
1139                                         gps_ground_altitude.set_filtered(gps.alt, time);
1140                                 }
1141                         }
1142                         if (pad_lat == AltosLib.MISSING) {
1143                                 pad_lat = gps.lat;
1144                                 pad_lon = gps.lon;
1145                                 gps_ground_altitude.set(gps.alt, time);
1146                         }
1147                         gps_altitude.set(gps.alt, time);
1148                         if (gps.climb_rate != AltosLib.MISSING)
1149                                 gps_ascent_rate.set(gps.climb_rate, time);
1150                         if (gps.ground_speed != AltosLib.MISSING)
1151                                 gps_ground_speed.set(gps.ground_speed, time);
1152                         if (gps.climb_rate != AltosLib.MISSING && gps.ground_speed != AltosLib.MISSING)
1153                                 gps_speed.set(Math.sqrt(gps.ground_speed * gps.ground_speed +
1154                                                         gps.climb_rate * gps.climb_rate), time);
1155                         if (gps.course != AltosLib.MISSING)
1156                                 gps_course.set(gps.course, time);
1157                 }
1158                 if (gps.lat != 0 && gps.lon != 0 &&
1159                     pad_lat != AltosLib.MISSING &&
1160                     pad_lon != AltosLib.MISSING)
1161                 {
1162                         double h = height();
1163
1164                         if (h == AltosLib.MISSING)
1165                                 h = 0;
1166                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
1167                         elevation = from_pad.elevation;
1168                         range = from_pad.range;
1169                 }
1170         }
1171
1172         public void set_tick(int new_tick) {
1173                 if (new_tick != AltosLib.MISSING) {
1174                         if (prev_tick != AltosLib.MISSING) {
1175                                 while (new_tick < prev_tick - 1000) {
1176                                         new_tick += 65536;
1177                                 }
1178                         }
1179                         tick = new_tick;
1180                         time = tick / 100.0;
1181                         time_change = time - prev_time;
1182                 }
1183         }
1184
1185         public void set_boost_tick(int boost_tick) {
1186                 if (boost_tick != AltosLib.MISSING)
1187                         this.boost_tick = boost_tick;
1188         }
1189
1190         public String state_name() {
1191                 return AltosLib.state_name(state);
1192         }
1193
1194         public void set_product(String product) {
1195                 this.product = product;
1196         }
1197
1198         public void set_state(int state) {
1199                 if (state != AltosLib.ao_flight_invalid) {
1200                         this.state = state;
1201                         ascent = (AltosLib.ao_flight_boost <= state &&
1202                                   state <= AltosLib.ao_flight_coast);
1203                         boost = (AltosLib.ao_flight_boost == state);
1204                 }
1205         }
1206
1207         public int state() {
1208                 return state;
1209         }
1210
1211         public void set_device_type(int device_type) {
1212                 this.device_type = device_type;
1213                 switch (device_type) {
1214                 case AltosLib.product_telegps:
1215                         this.state = AltosLib.ao_flight_stateless;
1216                         break;
1217                 }
1218         }
1219
1220         public void set_log_format(int log_format) {
1221                 this.log_format = log_format;
1222                 switch (log_format) {
1223                 case AltosLib.AO_LOG_FORMAT_TELEGPS:
1224                         this.state = AltosLib.ao_flight_stateless;
1225                         break;
1226                 }
1227         }
1228
1229         public void set_flight_params(int apogee_delay, int main_deploy) {
1230                 this.apogee_delay = apogee_delay;
1231                 this.main_deploy = main_deploy;
1232         }
1233
1234         public void set_config(int major, int minor, int flight_log_max) {
1235                 config_major = major;
1236                 config_minor = minor;
1237                 this.flight_log_max = flight_log_max;
1238         }
1239
1240         public void set_callsign(String callsign) {
1241                 this.callsign = callsign;
1242         }
1243
1244         public void set_firmware_version(String version) {
1245                 firmware_version = version;
1246         }
1247
1248         public int compare_version(String other_version) {
1249                 if (firmware_version == null)
1250                         return AltosLib.MISSING;
1251                 return AltosLib.compare_version(firmware_version, other_version);
1252         }
1253
1254         private void re_init() {
1255                 int bt = boost_tick;
1256                 int rs = receiver_serial;
1257                 init();
1258                 boost_tick = bt;
1259                 receiver_serial = rs;
1260         }
1261
1262         public void set_flight(int flight) {
1263
1264                 /* When the flight changes, reset the state */
1265                 if (flight != AltosLib.MISSING) {
1266                         if (this.flight != AltosLib.MISSING &&
1267                             this.flight != flight) {
1268                                 re_init();
1269                         }
1270                         this.flight = flight;
1271                 }
1272         }
1273
1274         public void set_serial(int serial) {
1275                 /* When the serial changes, reset the state */
1276                 if (serial != AltosLib.MISSING) {
1277                         if (this.serial != AltosLib.MISSING &&
1278                             this.serial != serial) {
1279                                 re_init();
1280                         }
1281                         this.serial = serial;
1282                 }
1283         }
1284
1285         public void set_receiver_serial(int serial) {
1286                 if (serial != AltosLib.MISSING)
1287                         receiver_serial = serial;
1288         }
1289
1290         public boolean altitude_32() {
1291                 return altitude_32 == 1;
1292         }
1293
1294         public void set_altitude_32(int altitude_32) {
1295                 if (altitude_32 != AltosLib.MISSING)
1296                         this.altitude_32 = altitude_32;
1297         }
1298
1299         public int rssi() {
1300                 if (rssi == AltosLib.MISSING)
1301                         return 0;
1302                 return rssi;
1303         }
1304
1305         public void set_rssi(int rssi, int status) {
1306                 if (rssi != AltosLib.MISSING) {
1307                         this.rssi = rssi;
1308                         this.status = status;
1309                 }
1310         }
1311
1312         public void set_received_time(long ms) {
1313                 received_time = ms;
1314         }
1315
1316         public void set_gps(AltosGPS gps, int sequence) {
1317                 if (gps != null) {
1318                         this.gps = gps.clone();
1319                         gps_sequence = sequence;
1320                         update_gps();
1321                         set |= set_gps;
1322                 }
1323         }
1324
1325
1326         public double   accel_zero_along;
1327         public double   accel_zero_across;
1328         public double   accel_zero_through;
1329
1330         public AltosRotation    rotation;
1331         public AltosRotation    ground_rotation;
1332
1333         public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
1334                 if (zero_along != AltosLib.MISSING) {
1335                         accel_zero_along = zero_along;
1336                         accel_zero_across = zero_across;
1337                         accel_zero_through = zero_through;
1338                 }
1339         }
1340
1341         public int pad_orientation;
1342
1343         public double   accel_ground_along, accel_ground_across, accel_ground_through;
1344
1345         void update_pad_rotation() {
1346                 if (pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
1347                         rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - accel_zero_across),
1348                                                      AltosIMU.convert_accel(accel_ground_through - accel_zero_through),
1349                                                      AltosIMU.convert_accel(accel_ground_along - accel_zero_along),
1350                                                      pad_orientation);
1351                         ground_rotation = rotation;
1352                         orient.set_computed(rotation.tilt(), time);
1353                 }
1354         }
1355
1356         public void set_accel_ground(double ground_along, double ground_across, double ground_through) {
1357                 accel_ground_along = ground_along;
1358                 accel_ground_across = ground_across;
1359                 accel_ground_through = ground_through;
1360                 update_pad_rotation();
1361         }
1362
1363         public void set_pad_orientation(int pad_orientation) {
1364                 this.pad_orientation = pad_orientation;
1365                 update_pad_rotation();
1366         }
1367
1368         public double   gyro_zero_roll;
1369         public double   gyro_zero_pitch;
1370         public double   gyro_zero_yaw;
1371
1372         public void set_gyro_zero(double roll, double pitch, double yaw) {
1373                 if (roll != AltosLib.MISSING) {
1374                         gyro_zero_roll = roll;
1375                         gyro_zero_pitch = pitch;
1376                         gyro_zero_yaw = yaw;
1377                 }
1378         }
1379
1380         public double   last_imu_time;
1381
1382         private double radians(double degrees) {
1383                 if (degrees == AltosLib.MISSING)
1384                         return AltosLib.MISSING;
1385                 return degrees * Math.PI / 180.0;
1386         }
1387
1388         private void update_orient() {
1389                 if (last_imu_time != AltosLib.MISSING) {
1390                         double  t = time - last_imu_time;
1391
1392                         double  pitch = radians(gyro_pitch());
1393                         double  yaw = radians(gyro_yaw());
1394                         double  roll = radians(gyro_roll());
1395
1396                         if (t > 0 & pitch != AltosLib.MISSING && rotation != null) {
1397                                 rotation.rotate(t, pitch, yaw, roll);
1398                                 orient.set_computed(rotation.tilt(), time);
1399                         }
1400                 }
1401                 last_imu_time = time;
1402         }
1403
1404         public void set_imu(AltosIMU imu) {
1405                 if (imu != null)
1406                         imu = imu.clone();
1407                 this.imu = imu;
1408                 update_orient();
1409         }
1410
1411         private double gyro_zero_overflow(double first) {
1412                 double v = first / 128.0;
1413                 if (v < 0)
1414                         v = Math.ceil(v);
1415                 else
1416                         v = Math.floor(v);
1417                 return v * 128.0;
1418         }
1419
1420         public void check_imu_wrap(AltosIMU imu) {
1421                 if (this.imu == null) {
1422                         gyro_zero_roll += gyro_zero_overflow(imu.gyro_roll);
1423                         gyro_zero_pitch += gyro_zero_overflow(imu.gyro_pitch);
1424                         gyro_zero_yaw += gyro_zero_overflow(imu.gyro_yaw);
1425                 }
1426         }
1427
1428         public double accel_along() {
1429                 if (imu != null && accel_zero_along != AltosLib.MISSING)
1430                         return AltosIMU.convert_accel(imu.accel_along - accel_zero_along);
1431                 return AltosLib.MISSING;
1432         }
1433
1434         public double accel_across() {
1435                 if (imu != null && accel_zero_across != AltosLib.MISSING)
1436                         return AltosIMU.convert_accel(imu.accel_across - accel_zero_across);
1437                 return AltosLib.MISSING;
1438         }
1439
1440         public double accel_through() {
1441                 if (imu != null && accel_zero_through != AltosLib.MISSING)
1442                         return AltosIMU.convert_accel(imu.accel_through - accel_zero_through);
1443                 return AltosLib.MISSING;
1444         }
1445
1446         public double gyro_roll() {
1447                 if (imu != null && gyro_zero_roll != AltosLib.MISSING) {
1448                         return AltosIMU.convert_gyro(imu.gyro_roll - gyro_zero_roll);
1449                 }
1450                 return AltosLib.MISSING;
1451         }
1452
1453         public double gyro_pitch() {
1454                 if (imu != null && gyro_zero_pitch != AltosLib.MISSING) {
1455                         return AltosIMU.convert_gyro(imu.gyro_pitch - gyro_zero_pitch);
1456                 }
1457                 return AltosLib.MISSING;
1458         }
1459
1460         public double gyro_yaw() {
1461                 if (imu != null && gyro_zero_yaw != AltosLib.MISSING) {
1462                         return AltosIMU.convert_gyro(imu.gyro_yaw - gyro_zero_yaw);
1463                 }
1464                 return AltosLib.MISSING;
1465         }
1466
1467         public void set_mag(AltosMag mag) {
1468                 this.mag = mag.clone();
1469         }
1470
1471         public double mag_along() {
1472                 if (mag != null)
1473                         return AltosMag.convert_gauss(mag.along);
1474                 return AltosLib.MISSING;
1475         }
1476
1477         public double mag_across() {
1478                 if (mag != null)
1479                         return AltosMag.convert_gauss(mag.across);
1480                 return AltosLib.MISSING;
1481         }
1482
1483         public double mag_through() {
1484                 if (mag != null)
1485                         return AltosMag.convert_gauss(mag.through);
1486                 return AltosLib.MISSING;
1487         }
1488
1489         public AltosMs5607 make_baro() {
1490                 if (baro == null)
1491                         baro = new AltosMs5607();
1492                 return baro;
1493         }
1494
1495         public void set_ms5607(AltosMs5607 ms5607) {
1496                 baro = ms5607;
1497
1498                 if (baro != null) {
1499                         set_pressure(baro.pa);
1500                         set_temperature(baro.cc / 100.0);
1501                 }
1502         }
1503
1504         public void set_ms5607(int pres, int temp) {
1505                 if (baro != null) {
1506                         baro.set(pres, temp);
1507
1508                         set_pressure(baro.pa);
1509                         set_temperature(baro.cc / 100.0);
1510                 }
1511         }
1512
1513         public void set_companion(AltosCompanion companion) {
1514                 this.companion = companion;
1515         }
1516
1517         void update_accel() {
1518                 if (accel == AltosLib.MISSING)
1519                         return;
1520                 if (accel_plus_g == AltosLib.MISSING)
1521                         return;
1522                 if (accel_minus_g == AltosLib.MISSING)
1523                         return;
1524
1525                 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
1526                 double counts_per_mss = counts_per_g / 9.80665;
1527                 acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
1528         }
1529
1530         public void set_accel_g(double accel_plus_g, double accel_minus_g) {
1531                 if (accel_plus_g != AltosLib.MISSING) {
1532                         this.accel_plus_g = accel_plus_g;
1533                         this.accel_minus_g = accel_minus_g;
1534                         update_accel();
1535                 }
1536         }
1537
1538         public void set_ground_accel(double ground_accel) {
1539                 if (ground_accel != AltosLib.MISSING)
1540                         this.ground_accel = ground_accel;
1541         }
1542
1543         public void set_accel(double accel) {
1544                 if (accel != AltosLib.MISSING) {
1545                         this.accel = accel;
1546                         if (state == AltosLib.ao_flight_pad) {
1547                                 if (ground_accel_avg == AltosLib.MISSING)
1548                                         ground_accel_avg = accel;
1549                                 else
1550                                         ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
1551                         }
1552                 }
1553                 update_accel();
1554         }
1555
1556         public void set_temperature(double temperature) {
1557                 if (temperature != AltosLib.MISSING) {
1558                         this.temperature = temperature;
1559                         set |= set_data;
1560                 }
1561         }
1562
1563         public void set_battery_voltage(double battery_voltage) {
1564                 if (battery_voltage != AltosLib.MISSING) {
1565                         this.battery_voltage = battery_voltage;
1566                         set |= set_data;
1567                 }
1568         }
1569
1570         public void set_pyro_voltage(double pyro_voltage) {
1571                 if (pyro_voltage != AltosLib.MISSING) {
1572                         this.pyro_voltage = pyro_voltage;
1573                         set |= set_data;
1574                 }
1575         }
1576
1577         public void set_apogee_voltage(double apogee_voltage) {
1578                 if (apogee_voltage != AltosLib.MISSING) {
1579                         this.apogee_voltage = apogee_voltage;
1580                         set |= set_data;
1581                 }
1582         }
1583
1584         public void set_main_voltage(double main_voltage) {
1585                 if (main_voltage != AltosLib.MISSING) {
1586                         this.main_voltage = main_voltage;
1587                         set |= set_data;
1588                 }
1589         }
1590
1591         public void set_ignitor_voltage(double[] voltage) {
1592                 this.ignitor_voltage = voltage;
1593         }
1594
1595         public void set_pyro_fired(int fired) {
1596                 this.pyro_fired = fired;
1597         }
1598
1599         public double time_since_boost() {
1600                 if (tick == AltosLib.MISSING)
1601                         return 0.0;
1602
1603                 if (boost_tick == AltosLib.MISSING)
1604                         return tick / 100.0;
1605                 return (tick - boost_tick) / 100.0;
1606         }
1607
1608         public boolean valid() {
1609                 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1610         }
1611
1612         public AltosGPS make_temp_gps(boolean sats) {
1613                 if (temp_gps == null) {
1614                         temp_gps = new AltosGPS(gps);
1615                 }
1616                 gps_pending = true;
1617                 if (sats) {
1618                         if (tick != temp_gps_sat_tick)
1619                                 temp_gps.cc_gps_sat = null;
1620                         temp_gps_sat_tick = tick;
1621                 }
1622                 return temp_gps;
1623         }
1624
1625         public void set_temp_gps() {
1626                 set_gps(temp_gps, gps_sequence + 1);
1627                 gps_pending = false;
1628                 temp_gps = null;
1629         }
1630
1631         public AltosState clone() {
1632                 AltosState s = new AltosState();
1633                 s.copy(this);
1634
1635                 AltosHashSet    hash = hashSet();
1636                 String          onetrip = hash.toString();
1637                 AltosHashSet    back = AltosHashSet.fromString(onetrip);
1638                 AltosState      tripstate = AltosState.fromHashSet(back);
1639                 AltosHashSet    triphash = tripstate.hashSet();
1640                 String          twotrip = triphash.toString();
1641
1642                 if (!onetrip.equals(twotrip)) {
1643                         System.out.printf("%s\n%s\n", onetrip, twotrip);
1644                         System.exit(1);
1645                 }
1646                 return s;
1647         }
1648
1649         public AltosState () {
1650                 init();
1651         }
1652
1653         public AltosHashSet hashSet() {
1654                 AltosHashSet    h = new AltosHashSet();
1655
1656                 h.putBoolean("valid", true);
1657                 h.putInt("set", set);
1658                 h.putLong("received_time", received_time);
1659                 h.putDouble("time", time);
1660                 h.putDouble("prev_time", prev_time);
1661                 h.putDouble("time_change", time_change);
1662                 h.putInt("tick", tick);
1663                 h.putInt("prev_tick", prev_tick);
1664                 h.putInt("boost_tick", boost_tick);
1665                 h.putInt("state", state);
1666                 h.putInt("flight", flight);
1667                 h.putInt("serial", serial);
1668                 h.putInt("altitude_32", altitude_32);
1669                 h.putInt("receiver_serial", receiver_serial);
1670                 h.putBoolean("landed", landed);
1671                 h.putBoolean("ascent", ascent);
1672                 h.putBoolean("boost", boost);
1673                 h.putInt("rssi", rssi);
1674                 h.putInt("status", status);
1675                 h.putInt("device_type", device_type);
1676                 h.putInt("config_major", config_major);
1677                 h.putInt("config_minor", config_minor);
1678                 h.putInt("apogee_delay", apogee_delay);
1679                 h.putInt("main_deploy", main_deploy);
1680                 h.putInt("flight_log_max", flight_log_max);
1681                 h.putHashable("ground_altitude", ground_altitude);
1682                 h.putHashable("gps_ground_altitude", gps_ground_altitude);
1683                 h.putHashable("ground_pressure", ground_pressure);
1684                 h.putHashable("altitude", altitude);
1685                 h.putHashable("gps_altitude", gps_altitude);
1686                 h.putHashable("gps_ground_speed", gps_ground_speed);
1687                 h.putHashable("gps_ascent_rate", gps_ascent_rate);
1688                 h.putHashable("gps_course", gps_course);
1689                 h.putHashable("gps_speed", gps_speed);
1690                 h.putHashable("pressure", pressure);
1691                 h.putHashable("speed", speed);
1692                 h.putHashable("acceleration", acceleration);
1693                 h.putHashable("orient", orient);
1694                 h.putHashable("kalman_height", kalman_height);
1695                 h.putHashable("kalman_speed", kalman_speed);
1696                 h.putHashable("kalman_acceleration", kalman_acceleration);
1697
1698                 h.putDouble("battery_voltage",battery_voltage);
1699                 h.putDouble("pyro_voltage",pyro_voltage);
1700                 h.putDouble("temperature",temperature);
1701                 h.putDouble("apogee_voltage",apogee_voltage);
1702                 h.putDouble("main_voltage",main_voltage);
1703                 h.putDoubleArray("ignitor_voltage",ignitor_voltage);
1704                 h.putHashable("gps", gps);
1705                 h.putHashable("temp_gps", temp_gps);
1706                 h.putInt("temp_gps_sat_tick", temp_gps_sat_tick);
1707                 h.putBoolean("gps_pending", gps_pending);
1708                 h.putInt("gps_sequence", gps_sequence);
1709                 h.putHashable("imu", imu);
1710                 h.putHashable("mag", mag);
1711
1712                 h.putInt("npad", npad);
1713                 h.putInt("gps_waiting", gps_waiting);
1714                 h.putBoolean("gps_ready", gps_ready);
1715                 h.putInt("ngps", ngps);
1716                 h.putHashable("from_pad", from_pad);
1717                 h.putDouble("elevation", elevation);
1718                 h.putDouble("range", range);
1719                 h.putDouble("gps_height", gps_height);
1720                 h.putDouble("pad_lat", pad_lat);
1721                 h.putDouble("pad_lon", pad_lon);
1722                 h.putDouble("pad_alt", pad_alt);
1723                 h.putInt("speak_tick", speak_tick);
1724                 h.putDouble("speak_altitude", speak_altitude);
1725                 h.putString("callsign", callsign);
1726                 h.putString("firmware_version", firmware_version);
1727                 h.putDouble("accel_plus_g", accel_plus_g);
1728                 h.putDouble("accel_minus_g", accel_minus_g);
1729                 h.putDouble("accel", accel);
1730                 h.putDouble("ground_accel", ground_accel);
1731                 h.putDouble("ground_accel_avg", ground_accel_avg);
1732                 h.putInt("log_format", log_format);
1733                 h.putString("product", product);
1734                 h.putHashable("baro", baro);
1735                 h.putHashable("companion", companion);
1736                 h.putInt("pyro_fired", pyro_fired);
1737                 h.putDouble("accel_zero_along", accel_zero_along);
1738                 h.putDouble("accel_zero_across", accel_zero_across);
1739                 h.putDouble("accel_zero_through", accel_zero_through);
1740
1741                 h.putHashable("rotation", rotation);
1742                 h.putHashable("ground_rotation", ground_rotation);
1743
1744                 h.putInt("pad_orientation", pad_orientation);
1745
1746                 h.putDouble("accel_ground_along", accel_ground_along);
1747                 h.putDouble("accel_ground_across", accel_ground_across);
1748                 h.putDouble("accel_ground_through", accel_ground_through);
1749
1750                 h.putDouble("gyro_zero_roll", gyro_zero_roll);
1751                 h.putDouble("gyro_zero_pitch", gyro_zero_pitch);
1752                 h.putDouble("gyro_zero_yaw", gyro_zero_yaw);
1753
1754                 h.putDouble("last_imu_time", last_imu_time);
1755                 return h;
1756         }
1757
1758         public AltosState(AltosHashSet h) {
1759                 this();
1760
1761                 set = h.getInt("set", set);
1762                 received_time = h.getLong("received_time", received_time);
1763                 time = h.getDouble("time", time);
1764                 prev_time = h.getDouble("prev_time", prev_time);
1765                 time_change = h.getDouble("time_change", time_change);
1766                 tick = h.getInt("tick", tick);
1767                 prev_tick = h.getInt("prev_tick", prev_tick);
1768                 boost_tick = h.getInt("boost_tick", boost_tick);
1769                 state = h.getInt("state", state);
1770                 flight = h.getInt("flight", flight);
1771                 serial = h.getInt("serial", serial);
1772                 altitude_32 = h.getInt("altitude_32", altitude_32);
1773                 receiver_serial = h.getInt("receiver_serial", receiver_serial);
1774                 landed = h.getBoolean("landed", landed);
1775                 ascent = h.getBoolean("ascent", ascent);
1776                 boost = h.getBoolean("boost", boost);
1777                 rssi = h.getInt("rssi", rssi);
1778                 status = h.getInt("status", status);
1779                 device_type = h.getInt("device_type", device_type);
1780                 config_major = h.getInt("config_major", config_major);
1781                 config_minor = h.getInt("config_minor", config_minor);
1782                 apogee_delay = h.getInt("apogee_delay", apogee_delay);
1783                 main_deploy = h.getInt("main_deploy", main_deploy);
1784                 flight_log_max = h.getInt("flight_log_max", flight_log_max);
1785                 ground_altitude = AltosCValue_fromHashSet(h.getHash("ground_altitude"), ground_altitude);
1786                 gps_ground_altitude = AltosGpsGroundAltitude_fromHashSet(h.getHash("gps_ground_altitude"), gps_ground_altitude);
1787                 ground_pressure = AltosGroundPressure_fromHashSet(h.getHash("ground_pressure"), ground_pressure);
1788                 altitude = AltosAltitude_fromHashSet(h.getHash("altitude"), altitude);
1789                 gps_altitude = AltosGpsAltitude_fromHashSet(h.getHash("gps_altitude"), gps_altitude);
1790                 gps_ground_speed = AltosValue_fromHashSet(h.getHash("gps_ground_speed"), gps_ground_speed);
1791                 gps_ascent_rate = AltosValue_fromHashSet(h.getHash("gps_ascent_rate"), gps_ascent_rate);
1792                 gps_course = AltosValue_fromHashSet(h.getHash("gps_course"), gps_course);
1793                 gps_speed = AltosValue_fromHashSet(h.getHash("gps_speed"), gps_speed);
1794                 pressure = AltosPressure_fromHashSet(h.getHash("pressure"), pressure);
1795                 speed = AltosSpeed_fromHashSet(h.getHash("speed"), speed);
1796                 acceleration = AltosAccel_fromHashSet(h.getHash("acceleration"), acceleration);
1797                 orient = AltosCValue_fromHashSet(h.getHash("orient"), orient);
1798                 kalman_height = AltosValue_fromHashSet(h.getHash("kalman_height"), kalman_height);
1799                 kalman_speed = AltosValue_fromHashSet(h.getHash("kalman_speed"), kalman_speed);
1800                 kalman_acceleration = AltosValue_fromHashSet(h.getHash("kalman_acceleration"), kalman_acceleration);
1801
1802                 battery_voltage = h.getDouble("battery_voltage", battery_voltage);
1803                 pyro_voltage = h.getDouble("pyro_voltage", pyro_voltage);
1804                 temperature = h.getDouble("temperature", temperature);
1805                 apogee_voltage = h.getDouble("apogee_voltage", apogee_voltage);
1806                 main_voltage=  h.getDouble("main_voltage", main_voltage);
1807                 ignitor_voltage = h.getDoubleArray("ignitor_voltage", ignitor_voltage);
1808                 gps = AltosGPS.fromHashSet(h.getHash("gps"), gps);
1809                 temp_gps = AltosGPS.fromHashSet(h.getHash("temp_gps"), temp_gps);
1810                 temp_gps_sat_tick = h.getInt("temp_gps_sat_tick", temp_gps_sat_tick);
1811                 gps_pending = h.getBoolean("gps_pending", gps_pending);
1812                 gps_sequence = h.getInt("gps_sequence", gps_sequence);
1813                 imu = AltosIMU.fromHashSet(h.getHash("imu"), imu);
1814                 mag = AltosMag.fromHashSet(h.getHash("mag"), mag);
1815
1816                 npad = h.getInt("npad", npad);
1817                 gps_waiting = h.getInt("gps_waiting", gps_waiting);
1818                 gps_ready = h.getBoolean("gps_ready", gps_ready);
1819                 ngps = h.getInt("ngps", ngps);
1820                 from_pad = AltosGreatCircle.fromHashSet(h.getHash("from_pad"), from_pad);
1821                 elevation = h.getDouble("elevation", elevation);
1822                 range = h.getDouble("range", range);
1823                 gps_height = h.getDouble("gps_height", gps_height);
1824                 pad_lat = h.getDouble("pad_lat", pad_lat);
1825                 pad_lon = h.getDouble("pad_lon", pad_lon);
1826                 pad_alt = h.getDouble("pad_alt", pad_alt);
1827                 speak_tick = h.getInt("speak_tick", speak_tick);
1828                 speak_altitude = h.getDouble("speak_altitude", speak_altitude);
1829                 callsign = h.getString("callsign", callsign);
1830                 firmware_version = h.getString("firmware_version", firmware_version);
1831                 accel_plus_g = h.getDouble("accel_plus_g", accel_plus_g);
1832                 accel_minus_g = h.getDouble("accel_minus_g", accel_minus_g);
1833                 accel = h.getDouble("accel", accel);
1834                 ground_accel = h.getDouble("ground_accel", ground_accel);
1835                 ground_accel_avg = h.getDouble("ground_accel_avg", ground_accel_avg);
1836                 log_format = h.getInt("log_format", log_format);
1837                 product = h.getString("product", product);
1838                 baro = AltosMs5607.fromHashSet(h.getHash("baro"), baro);
1839                 companion = AltosCompanion.fromHashSet(h.getHash("companion"), companion);
1840                 pyro_fired = h.getInt("pyro_fired", pyro_fired);
1841                 accel_zero_along = h.getDouble("accel_zero_along", accel_zero_along);
1842                 accel_zero_across = h.getDouble("accel_zero_across", accel_zero_across);
1843                 accel_zero_through = h.getDouble("accel_zero_through", accel_zero_through);
1844
1845                 rotation = AltosRotation.fromHashSet(h.getHash("rotation"), rotation);
1846                 ground_rotation = AltosRotation.fromHashSet(h.getHash("ground_rotation"), ground_rotation);
1847
1848                 pad_orientation = h.getInt("pad_orientation", pad_orientation);
1849
1850                 accel_ground_along = h.getDouble("accel_ground_along", accel_ground_along);
1851                 accel_ground_across = h.getDouble("accel_ground_across", accel_ground_across);
1852                 accel_ground_through = h.getDouble("accel_ground_through", accel_ground_through);
1853
1854                 gyro_zero_roll = h.getDouble("gyro_zero_roll", gyro_zero_roll);
1855                 gyro_zero_pitch = h.getDouble("gyro_zero_pitch", gyro_zero_pitch);
1856                 gyro_zero_yaw = h.getDouble("gyro_zero_yaw", gyro_zero_yaw);
1857
1858                 last_imu_time = h.getDouble("last_imu_time", last_imu_time);
1859         }
1860
1861         public static AltosState fromHashSet(AltosHashSet h) {
1862                 if (h == null)
1863                         return null;
1864                 if (!h.getBoolean("valid", false))
1865                         return null;
1866                 return new AltosState(h);
1867         }
1868 }