2 * Copyright © 2010 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
19 * Track flight state from telemetry or eeprom data stream
22 package org.altusmetrum.altoslib_1;
24 public class AltosState implements Cloneable {
25 public AltosRecord record;
27 public static final int set_position = 1;
28 public static final int set_gps = 2;
29 public static final int set_data = 4;
35 public long report_time;
38 public double prev_time;
39 public double time_change;
41 public int boost_tick;
46 public boolean landed;
47 public boolean ascent; /* going up? */
48 public boolean boost; /* under power */
52 public double ground_altitude;
53 public double ground_pressure;
54 public double altitude;
56 public double pressure;
57 public double acceleration;
58 public double battery_voltage;
59 public double pyro_voltage;
60 public double temperature;
61 public double apogee_voltage;
62 public double main_voltage;
65 public double prev_height;
66 public double prev_speed;
67 public double prev_acceleration;
69 public double max_height;
70 public double max_acceleration;
71 public double max_speed;
73 public double kalman_height, kalman_speed, kalman_acceleration;
76 public AltosGPS temp_gps;
77 public boolean gps_pending;
78 public int gps_sequence;
83 public static final int MIN_PAD_SAMPLES = 10;
86 public int gps_waiting;
87 public boolean gps_ready;
91 public AltosGreatCircle from_pad;
92 public double elevation; /* from pad */
93 public double range; /* total distance */
95 public double gps_height;
97 public double pad_lat, pad_lon, pad_alt;
99 public int speak_tick;
100 public double speak_altitude;
102 public String callsign;
103 public double accel_plus_g;
104 public double accel_minus_g;
106 public double ground_accel;
108 public int log_format;
110 public AltosMs5607 baro;
112 public AltosRecordCompanion companion;
114 public double speed() {
118 public double max_speed() {
122 public void set_npad(int npad) {
124 gps_waiting = MIN_PAD_SAMPLES - npad;
125 if (this.gps_waiting < 0)
127 gps_ready = gps_waiting == 0;
135 report_time = System.currentTimeMillis();
136 time = AltosRecord.MISSING;
137 time_change = AltosRecord.MISSING;
138 prev_time = AltosRecord.MISSING;
139 tick = AltosRecord.MISSING;
140 boost_tick = AltosRecord.MISSING;
141 state = AltosLib.ao_flight_invalid;
142 flight = AltosRecord.MISSING;
145 rssi = AltosRecord.MISSING;
148 ground_altitude = AltosRecord.MISSING;
149 ground_pressure = AltosRecord.MISSING;
150 altitude = AltosRecord.MISSING;
151 height = AltosRecord.MISSING;
152 pressure = AltosRecord.MISSING;
153 acceleration = AltosRecord.MISSING;
154 temperature = AltosRecord.MISSING;
156 prev_height = AltosRecord.MISSING;
157 prev_speed = AltosRecord.MISSING;
158 prev_acceleration = AltosRecord.MISSING;
160 battery_voltage = AltosRecord.MISSING;
161 pyro_voltage = AltosRecord.MISSING;
162 apogee_voltage = AltosRecord.MISSING;
163 main_voltage = AltosRecord.MISSING;
165 speed = AltosRecord.MISSING;
167 kalman_height = AltosRecord.MISSING;
168 kalman_speed = AltosRecord.MISSING;
169 kalman_acceleration = AltosRecord.MISSING;
173 max_acceleration = 0;
187 elevation = AltosRecord.MISSING;
188 range = AltosRecord.MISSING;
189 gps_height = AltosRecord.MISSING;
191 pad_lat = AltosRecord.MISSING;
192 pad_lon = AltosRecord.MISSING;
193 pad_alt = AltosRecord.MISSING;
195 speak_tick = AltosRecord.MISSING;
196 speak_altitude = AltosRecord.MISSING;
200 accel_plus_g = AltosRecord.MISSING;
201 accel_minus_g = AltosRecord.MISSING;
202 accel = AltosRecord.MISSING;
203 ground_accel = AltosRecord.MISSING;
204 log_format = AltosRecord.MISSING;
205 serial = AltosRecord.MISSING;
211 void copy(AltosState old) {
220 report_time = old.report_time;
224 boost_tick = old.boost_tick;
236 ground_altitude = old.ground_altitude;
237 altitude = old.altitude;
239 pressure = old.pressure;
240 acceleration = old.acceleration;
241 battery_voltage = old.battery_voltage;
242 pyro_voltage = old.pyro_voltage;
243 temperature = old.temperature;
244 apogee_voltage = old.apogee_voltage;
245 main_voltage = old.main_voltage;
248 prev_height = old.height;
249 prev_speed = old.speed;
250 prev_acceleration = old.acceleration;
251 prev_time = old.time;
253 max_height = old.max_height;
254 max_acceleration = old.max_acceleration;
255 max_speed = old.max_speed;
257 kalman_height = old.kalman_height;
258 kalman_speed = old.kalman_speed;
259 kalman_acceleration = old.kalman_acceleration;
262 gps = old.gps.clone();
265 if (old.temp_gps != null)
266 temp_gps = old.temp_gps.clone();
269 gps_sequence = old.gps_sequence;
270 gps_pending = old.gps_pending;
273 imu = old.imu.clone();
278 mag = old.mag.clone();
283 gps_waiting = old.gps_waiting;
284 gps_ready = old.gps_ready;
287 if (old.from_pad != null)
288 from_pad = old.from_pad.clone();
292 elevation = old.elevation;
295 gps_height = old.gps_height;
296 pad_lat = old.pad_lat;
297 pad_lon = old.pad_lon;
298 pad_alt = old.pad_alt;
300 speak_tick = old.speak_tick;
301 speak_altitude = old.speak_altitude;
303 callsign = old.callsign;
305 accel_plus_g = old.accel_plus_g;
306 accel_minus_g = old.accel_minus_g;
308 ground_accel = old.ground_accel;
310 log_format = old.log_format;
314 companion = old.companion;
318 if (altitude != AltosRecord.MISSING)
322 return AltosRecord.MISSING;
325 void update_vertical_pos() {
327 double alt = altitude();
329 if (state == AltosLib.ao_flight_pad && alt != AltosRecord.MISSING && ground_pressure == AltosRecord.MISSING) {
330 if (ground_altitude == AltosRecord.MISSING)
331 ground_altitude = alt;
333 ground_altitude = (ground_altitude * 7 + alt) / 8;
336 if (kalman_height != AltosRecord.MISSING)
337 height = kalman_height;
338 else if (altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING)
339 height = altitude - ground_altitude;
341 height = AltosRecord.MISSING;
343 if (height != AltosRecord.MISSING && height > max_height)
349 double motion_filter_value() {
350 return 1/ Math.exp(time_change/10.0);
353 void update_speed() {
354 if (kalman_speed != AltosRecord.MISSING)
355 speed = kalman_speed;
356 else if (state != AltosLib.ao_flight_invalid &&
357 time_change != AltosRecord.MISSING)
359 if (ascent && acceleration != AltosRecord.MISSING)
361 if (prev_speed == AltosRecord.MISSING)
362 speed = acceleration * time_change;
364 speed = prev_speed + acceleration * time_change;
366 else if (height != AltosRecord.MISSING &&
367 prev_height != AltosRecord.MISSING &&
370 double new_speed = (height - prev_height) / time_change;
372 if (prev_speed == AltosRecord.MISSING)
375 double filter = motion_filter_value();
377 speed = prev_speed * filter + new_speed * (1-filter);
381 if (acceleration == AltosRecord.MISSING) {
382 if (prev_speed != AltosRecord.MISSING && time_change != 0) {
383 double new_acceleration = (speed - prev_speed) / time_change;
385 if (prev_acceleration == AltosRecord.MISSING)
386 acceleration = new_acceleration;
388 double filter = motion_filter_value();
390 acceleration = prev_acceleration * filter + new_acceleration * (1-filter);
394 if (boost && speed != AltosRecord.MISSING && speed > max_speed)
398 void update_accel() {
399 if (accel == AltosRecord.MISSING)
401 if (ground_accel == AltosRecord.MISSING)
403 if (accel_plus_g == AltosRecord.MISSING)
405 if (accel_minus_g == AltosRecord.MISSING)
408 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
409 double counts_per_mss = counts_per_g / 9.80665;
411 acceleration = (ground_accel - accel) / counts_per_mss;
413 /* Only look at accelerometer data under boost */
414 if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
415 max_acceleration = acceleration;
420 if (tick != AltosRecord.MISSING) {
422 if (prev_time != AltosRecord.MISSING)
423 time_change = time - prev_time;
435 if (gps.locked && gps.nsat >= 4) {
436 /* Track consecutive 'good' gps reports, waiting for 10 of them */
437 if (state == AltosLib.ao_flight_pad) {
439 if (pad_lat != AltosRecord.MISSING) {
440 pad_lat = (pad_lat * 31 + gps.lat) / 32;
441 pad_lon = (pad_lon * 31 + gps.lon) / 32;
442 pad_alt = (pad_alt * 31 + gps.alt) / 32;
445 if (pad_lat == AltosRecord.MISSING) {
451 if (gps.lat != 0 && gps.lon != 0 &&
452 pad_lat != AltosRecord.MISSING &&
453 pad_lon != AltosRecord.MISSING)
457 if (h == AltosRecord.MISSING)
459 from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
460 elevation = from_pad.elevation;
461 range = from_pad.range;
462 gps_height = gps.alt - pad_alt;
466 public void set_tick(int tick) {
467 if (tick != AltosRecord.MISSING) {
468 if (this.tick != AltosRecord.MISSING) {
469 while (tick < this.tick)
471 time_change = (tick - this.tick) / 100.0;
479 public void set_boost_tick(int boost_tick) {
480 if (boost_tick != AltosRecord.MISSING)
481 this.boost_tick = boost_tick;
484 public String state_name() {
485 return AltosLib.state_name(state);
488 public void set_state(int state) {
489 if (state != AltosLib.ao_flight_invalid) {
491 ascent = (AltosLib.ao_flight_boost <= state &&
492 state <= AltosLib.ao_flight_coast);
493 boost = (AltosLib.ao_flight_boost == state);
498 public void set_flight(int flight) {
500 /* When the flight changes, reset the state */
501 if (flight != AltosRecord.MISSING) {
502 if (this.flight != AltosRecord.MISSING &&
503 this.flight != flight) {
506 this.flight = flight;
510 public void set_serial(int serial) {
511 /* When the serial changes, reset the state */
512 if (serial != AltosRecord.MISSING) {
513 if (this.serial != AltosRecord.MISSING &&
514 this.serial != serial) {
517 this.serial = serial;
522 if (rssi == AltosRecord.MISSING)
527 public void set_rssi(int rssi, int status) {
528 if (rssi != AltosRecord.MISSING) {
530 this.status = status;
534 public void set_altitude(double altitude) {
535 if (altitude != AltosRecord.MISSING) {
536 this.altitude = altitude;
537 update_vertical_pos();
542 public void set_ground_altitude(double ground_altitude) {
543 if (ground_altitude != AltosRecord.MISSING) {
544 this.ground_altitude = ground_altitude;
545 update_vertical_pos();
549 public void set_ground_pressure (double pressure) {
550 if (pressure != AltosRecord.MISSING) {
551 this.ground_pressure = pressure;
552 set_ground_altitude(AltosConvert.pressure_to_altitude(pressure));
553 update_vertical_pos();
557 public void set_gps(AltosGPS gps, int sequence) {
559 System.out.printf ("gps date: %d-%d-%d time %d:%d:%d\n",
560 gps.year, gps.month, gps.day,
561 gps.hour, gps.minute, gps.second);
562 this.gps = gps.clone();
563 gps_sequence = sequence;
565 update_vertical_pos();
570 public void set_kalman(double height, double speed, double acceleration) {
571 if (height != AltosRecord.MISSING) {
572 kalman_height = height;
573 kalman_speed = speed;
574 kalman_acceleration = acceleration;
575 update_vertical_pos();
579 public void set_pressure(double pressure) {
580 if (pressure != AltosRecord.MISSING) {
581 this.pressure = pressure;
582 set_altitude(AltosConvert.pressure_to_altitude(pressure));
586 public void make_baro() {
588 baro = new AltosMs5607();
591 public void set_ms5607(int pres, int temp) {
593 baro.set(pres, temp);
595 set_pressure(baro.pa);
596 set_temperature(baro.cc / 100.0);
600 public void make_companion (int nchannels) {
601 if (companion == null)
602 companion = new AltosRecordCompanion(nchannels);
605 public void set_companion(AltosRecordCompanion companion) {
606 this.companion = companion;
609 public void set_accel_g(double accel_plus_g, double accel_minus_g) {
610 if (accel_plus_g != AltosRecord.MISSING) {
611 this.accel_plus_g = accel_plus_g;
612 this.accel_minus_g = accel_minus_g;
616 public void set_ground_accel(double ground_accel) {
617 if (ground_accel != AltosRecord.MISSING) {
618 this.ground_accel = ground_accel;
623 public void set_accel(double accel) {
624 if (accel != AltosRecord.MISSING) {
630 public void set_temperature(double temperature) {
631 if (temperature != AltosRecord.MISSING) {
632 this.temperature = temperature;
637 public void set_battery_voltage(double battery_voltage) {
638 if (battery_voltage != AltosRecord.MISSING) {
639 this.battery_voltage = battery_voltage;
644 public void set_pyro_voltage(double pyro_voltage) {
645 if (pyro_voltage != AltosRecord.MISSING) {
646 this.pyro_voltage = pyro_voltage;
651 public void set_apogee_voltage(double apogee_voltage) {
652 if (apogee_voltage != AltosRecord.MISSING) {
653 this.apogee_voltage = apogee_voltage;
658 public void set_main_voltage(double main_voltage) {
659 if (main_voltage != AltosRecord.MISSING) {
660 this.main_voltage = main_voltage;
666 public double time_since_boost() {
667 if (tick == AltosRecord.MISSING)
670 if (boost_tick != AltosRecord.MISSING) {
671 return (tick - boost_tick) / 100.0;
676 public boolean valid() {
677 return tick != AltosRecord.MISSING && serial != AltosRecord.MISSING;
680 public AltosGPS make_temp_gps() {
681 if (temp_gps == null) {
682 temp_gps = new AltosGPS(gps);
683 temp_gps.cc_gps_sat = null;
689 public void set_temp_gps() {
690 set_gps(temp_gps, gps_sequence + 1);
695 public void init (AltosRecord cur, AltosState prev_state) {
697 System.out.printf ("init\n");
699 cur = new AltosRecord();
703 /* Discard previous state if it was for a different board */
704 if (prev_state != null && prev_state.serial != cur.serial)
709 set_ground_altitude(cur.ground_altitude());
710 set_altitude(cur.altitude());
712 set_kalman(cur.kalman_height, cur.kalman_speed, cur.kalman_acceleration);
714 report_time = System.currentTimeMillis();
716 set_temperature(cur.temperature());
717 set_apogee_voltage(cur.drogue_voltage());
718 set_main_voltage(cur.main_voltage());
719 set_battery_voltage(cur.battery_voltage());
721 set_pressure(cur.pressure());
724 set_state(cur.state);
726 set_accel_g (cur.accel_minus_g, cur.accel_plus_g);
727 set_ground_accel(cur.ground_accel);
728 set_accel (cur.accel);
730 if (cur.gps_sequence != gps_sequence)
731 set_gps(cur.gps, cur.gps_sequence);
735 public AltosState clone() {
736 AltosState s = new AltosState();
741 public AltosState(AltosRecord cur) {
745 public AltosState (AltosRecord cur, AltosState prev) {
749 public AltosState () {