git.gag.com Git - fw/altos/blob - altoslib/AltosState.java

   1 /*
   2  * Copyright © 2010 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 /*
  19  * Track flight state from telemetry or eeprom data stream
  20  */
  21
  22 package org.altusmetrum.altoslib_3;
  23
  24 public class AltosState implements Cloneable {
  25
  26         public static final int set_position = 1;
  27         public static final int set_gps = 2;
  28         public static final int set_data = 4;
  29
  30         public int set;
  31
  32         static final double ascent_filter_len = 0.5;
  33         static final double descent_filter_len = 0.5;
  34
  35         /* derived data */
  36
  37         public long     received_time;
  38
  39         public double   time;
  40         public double   prev_time;
  41         public double   time_change;
  42         public int      tick;
  43         private int     prev_tick;
  44         public int      boost_tick;
  45
  46         class AltosValue {
  47                 private double  value;
  48                 private double  prev_value;
  49                 private double  max_value;
  50                 private double  set_time;
  51                 private double  prev_set_time;
  52
  53                 void set(double new_value, double time) {
  54                         if (new_value != AltosLib.MISSING) {
  55                                 value = new_value;
  56                                 if (max_value == AltosLib.MISSING || value > max_value) {
  57                                         max_value = value;
  58                                 }
  59                                 set_time = time;
  60                         }
  61                 }
  62
  63                 void set_filtered(double new_value, double time) {
  64                         if (prev_value != AltosLib.MISSING)
  65                                 new_value = (prev_value * 15.0 + new_value) / 16.0;
  66                         set(new_value, time);
  67                 }
  68
  69                 double value() {
  70                         return value;
  71                 }
  72
  73                 double max() {
  74                         return max_value;
  75                 }
  76
  77                 double prev() {
  78                         return prev_value;
  79                 }
  80
  81                 double change() {
  82                         if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
  83                                 return value - prev_value;
  84                         return AltosLib.MISSING;
  85                 }
  86
  87                 double rate() {
  88                         double c = change();
  89                         double t = set_time - prev_set_time;
  90
  91                         if (c != AltosLib.MISSING && t != 0)
  92                                 return c / t;
  93                         return AltosLib.MISSING;
  94                 }
  95
  96                 double integrate() {
  97                         if (value == AltosLib.MISSING)
  98                                 return AltosLib.MISSING;
  99                         if (prev_value == AltosLib.MISSING)
 100                                 return AltosLib.MISSING;
 101
 102                         return (value + prev_value) / 2 * (set_time - prev_set_time);
 103                 }
 104
 105                 double time() {
 106                         return set_time;
 107                 }
 108
 109                 void set_derivative(AltosValue in) {
 110                         double  n = in.rate();
 111
 112                         if (n == AltosLib.MISSING)
 113                                 return;
 114
 115                         double  p = prev_value;
 116                         double  pt = prev_set_time;
 117
 118                         if (p == AltosLib.MISSING) {
 119                                 p = 0;
 120                                 pt = in.time() - 0.01;
 121                         }
 122
 123                         /* Clip changes to reduce noise */
 124                         double  ddt = in.time() - pt;
 125                         double  ddv = (n - p) / ddt;
 126
 127                         final double max = 100000;
 128
 129                         /* 100gs */
 130                         if (Math.abs(ddv) > max) {
 131                                 if (n > p)
 132                                         n = p + ddt * max;
 133                                 else
 134                                         n = p - ddt * max;
 135                         }
 136
 137                         double filter_len;
 138
 139                         if (ascent)
 140                                 filter_len = ascent_filter_len;
 141                         else
 142                                 filter_len = descent_filter_len;
 143
 144                         double f = 1/Math.exp(ddt/ filter_len);
 145                         n = p * f + n * (1-f);
 146
 147                         set(n, in.time());
 148                 }
 149
 150                 void set_integral(AltosValue in) {
 151                         double  change = in.integrate();
 152
 153                         if (change != AltosLib.MISSING) {
 154                                 double  prev = prev_value;
 155                                 if (prev == AltosLib.MISSING)
 156                                         prev = 0;
 157                                 set(prev + change, in.time());
 158                         }
 159                 }
 160
 161                 void copy(AltosValue old) {
 162                         value = old.value;
 163                         set_time = old.set_time;
 164                         prev_value = old.value;
 165                         prev_set_time = old.set_time;
 166                         max_value = old.max_value;
 167                 }
 168
 169                 void finish_update() {
 170                         prev_value = value;
 171                         prev_set_time = set_time;
 172                 }
 173
 174                 AltosValue() {
 175                         value = AltosLib.MISSING;
 176                         prev_value = AltosLib.MISSING;
 177                         max_value = AltosLib.MISSING;
 178                 }
 179         }
 180
 181         class AltosCValue {
 182                 AltosValue      measured;
 183                 AltosValue      computed;
 184
 185                 double value() {
 186                         double v = measured.value();
 187                         if (v != AltosLib.MISSING)
 188                                 return v;
 189                         return computed.value();
 190                 }
 191
 192                 boolean is_measured() {
 193                         return measured.value() != AltosLib.MISSING;
 194                 }
 195
 196                 double max() {
 197                         double m = measured.max();
 198
 199                         if (m != AltosLib.MISSING)
 200                                 return m;
 201                         return computed.max();
 202                 }
 203
 204                 double prev_value() {
 205                         if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
 206                                 return measured.prev_value;
 207                         return computed.prev_value;
 208                 }
 209
 210                 AltosValue altos_value() {
 211                         if (measured.value() != AltosLib.MISSING)
 212                                 return measured;
 213                         return computed;
 214                 }
 215
 216                 double change() {
 217                         double c = measured.change();
 218                         if (c == AltosLib.MISSING)
 219                                 c = computed.change();
 220                         return c;
 221                 }
 222
 223                 double rate() {
 224                         double r = measured.rate();
 225                         if (r == AltosLib.MISSING)
 226                                 r = computed.rate();
 227                         return r;
 228                 }
 229
 230                 void set_measured(double new_value, double time) {
 231                         measured.set(new_value, time);
 232                 }
 233
 234                 void set_computed(double new_value, double time) {
 235                         computed.set(new_value, time);
 236                 }
 237
 238                 void set_derivative(AltosValue in) {
 239                         computed.set_derivative(in);
 240                 }
 241
 242                 void set_derivative(AltosCValue in) {
 243                         set_derivative(in.altos_value());
 244                 }
 245
 246                 void set_integral(AltosValue in) {
 247                         computed.set_integral(in);
 248                 }
 249
 250                 void set_integral(AltosCValue in) {
 251                         set_integral(in.altos_value());
 252                 }
 253
 254                 void copy(AltosCValue old) {
 255                         measured.copy(old.measured);
 256                         computed.copy(old.computed);
 257                 }
 258
 259                 void finish_update() {
 260                         measured.finish_update();
 261                         computed.finish_update();
 262                 }
 263
 264                 AltosCValue() {
 265                         measured = new AltosValue();
 266                         computed = new AltosValue();
 267                 }
 268         }
 269
 270         public int      state;
 271         public int      flight;
 272         public int      serial;
 273         public int      receiver_serial;
 274         public boolean  landed;
 275         public boolean  ascent; /* going up? */
 276         public boolean  boost;  /* under power */
 277         public int      rssi;
 278         public int      status;
 279         public int      device_type;
 280         public int      config_major;
 281         public int      config_minor;
 282         public int      apogee_delay;
 283         public int      main_deploy;
 284         public int      flight_log_max;
 285
 286         private double pressure_to_altitude(double p) {
 287                 if (p == AltosLib.MISSING)
 288                         return AltosLib.MISSING;
 289                 return AltosConvert.pressure_to_altitude(p);
 290         }
 291
 292         private AltosCValue ground_altitude;
 293
 294         public double ground_altitude() {
 295                 return ground_altitude.value();
 296         }
 297
 298         public void set_ground_altitude(double a) {
 299                 ground_altitude.set_measured(a, time);
 300         }
 301
 302         class AltosGpsGroundAltitude extends AltosValue {
 303                 void set(double a, double t) {
 304                         super.set(a, t);
 305                         pad_alt = value();
 306                         gps_altitude.set_gps_height();
 307                 }
 308
 309                 void set_filtered(double a, double t) {
 310                         super.set_filtered(a, t);
 311                         pad_alt = value();
 312                         gps_altitude.set_gps_height();
 313                 }
 314         }
 315
 316         private AltosGpsGroundAltitude gps_ground_altitude;
 317
 318         public double gps_ground_altitude() {
 319                 return gps_ground_altitude.value();
 320         }
 321
 322         public void set_gps_ground_altitude(double a) {
 323                 gps_ground_altitude.set(a, time);
 324         }
 325
 326         class AltosGroundPressure extends AltosCValue {
 327                 void set_filtered(double p, double time) {
 328                         computed.set_filtered(p, time);
 329                         if (!is_measured())
 330                                 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
 331                 }
 332
 333                 void set_measured(double p, double time) {
 334                         super.set_measured(p, time);
 335                         ground_altitude.set_computed(pressure_to_altitude(p), time);
 336                 }
 337         }
 338
 339         private AltosGroundPressure ground_pressure;
 340
 341         public double ground_pressure() {
 342                 return ground_pressure.value();
 343         }
 344
 345         public void set_ground_pressure (double pressure) {
 346                 ground_pressure.set_measured(pressure, time);
 347         }
 348
 349         class AltosAltitude extends AltosCValue {
 350
 351                 private void set_speed(AltosValue v) {
 352                         if (!acceleration.is_measured() || !ascent)
 353                                 speed.set_derivative(this);
 354                 }
 355
 356                 void set_computed(double a, double time) {
 357                         super.set_computed(a,time);
 358                         set_speed(computed);
 359                         set |= set_position;
 360                 }
 361
 362                 void set_measured(double a, double time) {
 363                         super.set_measured(a,time);
 364                         set_speed(measured);
 365                         set |= set_position;
 366                 }
 367         }
 368
 369         private AltosAltitude   altitude;
 370
 371         class AltosGpsAltitude extends AltosValue {
 372
 373                 private void set_gps_height() {
 374                         double  a = value();
 375                         double  g = gps_ground_altitude.value();
 376
 377                         if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 378                                 gps_height = a - g;
 379                         else
 380                                 gps_height = AltosLib.MISSING;
 381                 }
 382
 383                 void set(double a, double t) {
 384                         super.set(a, t);
 385                         set_gps_height();
 386                 }
 387         }
 388
 389         private AltosGpsAltitude        gps_altitude;
 390
 391         public double altitude() {
 392                 double a = altitude.value();
 393                 if (a != AltosLib.MISSING)
 394                         return a;
 395                 return gps_altitude.value();
 396         }
 397
 398         public double max_altitude() {
 399                 double a = altitude.max();
 400                 if (a != AltosLib.MISSING)
 401                         return a;
 402                 return gps_altitude.max();
 403         }
 404
 405         public void set_altitude(double new_altitude) {
 406                 altitude.set_measured(new_altitude, time);
 407         }
 408
 409         public double gps_altitude() {
 410                 return gps_altitude.value();
 411         }
 412
 413         public double max_gps_altitude() {
 414                 return gps_altitude.max();
 415         }
 416
 417         public void set_gps_altitude(double new_gps_altitude) {
 418                 gps_altitude.set(new_gps_altitude, time);
 419         }
 420
 421         class AltosPressure extends AltosValue {
 422                 void set(double p, double time) {
 423                         super.set(p, time);
 424                         if (state == AltosLib.ao_flight_pad)
 425                                 ground_pressure.set_filtered(p, time);
 426                         double a = pressure_to_altitude(p);
 427                         altitude.set_computed(a, time);
 428                 }
 429         }
 430
 431         private AltosPressure   pressure;
 432
 433         public double pressure() {
 434                 return pressure.value();
 435         }
 436
 437         public void set_pressure(double p) {
 438                 pressure.set(p, time);
 439         }
 440
 441         public double height() {
 442                 double k = kalman_height.value();
 443                 if (k != AltosLib.MISSING)
 444                         return k;
 445
 446                 double a = altitude();
 447                 double g = ground_altitude();
 448                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 449                         return a - g;
 450                 return AltosLib.MISSING;
 451         }
 452
 453         public double max_height() {
 454                 double  k = kalman_height.max();
 455                 if (k != AltosLib.MISSING)
 456                         return k;
 457
 458                 double a = altitude.max();
 459                 double g = ground_altitude();
 460                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 461                         return a - g;
 462                 return AltosLib.MISSING;
 463         }
 464
 465         public double gps_height() {
 466                 double a = gps_altitude();
 467                 double g = gps_ground_altitude();
 468
 469                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 470                         return a - g;
 471                 return AltosLib.MISSING;
 472         }
 473
 474         public double max_gps_height() {
 475                 double a = gps_altitude.max();
 476                 double g = gps_ground_altitude();
 477
 478                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 479                         return a - g;
 480                 return AltosLib.MISSING;
 481         }
 482
 483         class AltosSpeed extends AltosCValue {
 484
 485                 void set_accel() {
 486                         acceleration.set_derivative(this);
 487                 }
 488
 489                 void set_derivative(AltosCValue in) {
 490                         super.set_derivative(in);
 491                         set_accel();
 492                 }
 493
 494                 void set_computed(double new_value, double time) {
 495                         super.set_computed(new_value, time);
 496                         set_accel();
 497                 }
 498
 499                 void set_measured(double new_value, double time) {
 500                         super.set_measured(new_value, time);
 501                         set_accel();
 502                 }
 503         }
 504
 505         private AltosSpeed speed;
 506
 507         public double speed() {
 508                 double v = kalman_speed.value();
 509                 if (v != AltosLib.MISSING)
 510                         return v;
 511                 return speed.value();
 512         }
 513
 514         public double max_speed() {
 515                 double v = kalman_speed.max();
 516                 if (v != AltosLib.MISSING)
 517                         return v;
 518                 return speed.max();
 519         }
 520
 521         class AltosAccel extends AltosCValue {
 522                 void set_measured(double a, double time) {
 523                         super.set_measured(a, time);
 524                         if (ascent)
 525                                 speed.set_integral(this.measured);
 526                 }
 527         }
 528
 529         AltosAccel acceleration;
 530
 531         public double acceleration() {
 532                 return acceleration.value();
 533         }
 534
 535         public double max_acceleration() {
 536                 return acceleration.max();
 537         }
 538
 539         public AltosValue       orient;
 540
 541         public void set_orient(double new_orient) {
 542                 orient.set(new_orient, time);
 543         }
 544
 545         public double orient() {
 546                 return orient.value();
 547         }
 548
 549         public double max_orient() {
 550                 return orient.max();
 551         }
 552
 553         public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 554
 555         public void set_kalman(double height, double speed, double acceleration) {
 556                 kalman_height.set(height, time);
 557                 kalman_speed.set(speed, time);
 558                 kalman_acceleration.set(acceleration, time);
 559         }
 560
 561         public double   battery_voltage;
 562         public double   pyro_voltage;
 563         public double   temperature;
 564         public double   apogee_voltage;
 565         public double   main_voltage;
 566
 567         public double   ignitor_voltage[];
 568
 569         public AltosGPS gps;
 570         public AltosGPS temp_gps;
 571         public int temp_gps_sat_tick;
 572         public boolean  gps_pending;
 573         public int gps_sequence;
 574
 575         public AltosIMU imu;
 576         public AltosMag mag;
 577
 578         public static final int MIN_PAD_SAMPLES = 10;
 579
 580         public int      npad;
 581         public int      gps_waiting;
 582         public boolean  gps_ready;
 583
 584         public int      ngps;
 585
 586         public AltosGreatCircle from_pad;
 587         public double   elevation;      /* from pad */
 588         public double   range;          /* total distance */
 589
 590         public double   gps_height;
 591
 592         public double pad_lat, pad_lon, pad_alt;
 593
 594         public int      speak_tick;
 595         public double   speak_altitude;
 596
 597         public String   callsign;
 598         public String   firmware_version;
 599
 600         public double   accel_plus_g;
 601         public double   accel_minus_g;
 602         public double   accel;
 603         public double   ground_accel;
 604         public double   ground_accel_avg;
 605
 606         public int      log_format;
 607
 608         public AltosMs5607      baro;
 609
 610         public AltosCompanion   companion;
 611
 612         public void set_npad(int npad) {
 613                 this.npad = npad;
 614                 gps_waiting = MIN_PAD_SAMPLES - npad;
 615                 if (this.gps_waiting < 0)
 616                         gps_waiting = 0;
 617                 gps_ready = gps_waiting == 0;
 618         }
 619
 620         public void init() {
 621                 set = 0;
 622
 623                 received_time = System.currentTimeMillis();
 624                 time = AltosLib.MISSING;
 625                 time_change = AltosLib.MISSING;
 626                 prev_time = AltosLib.MISSING;
 627                 tick = AltosLib.MISSING;
 628                 prev_tick = AltosLib.MISSING;
 629                 boost_tick = AltosLib.MISSING;
 630                 state = AltosLib.ao_flight_invalid;
 631                 flight = AltosLib.MISSING;
 632                 landed = false;
 633                 boost = false;
 634                 rssi = AltosLib.MISSING;
 635                 status = 0;
 636                 device_type = AltosLib.MISSING;
 637                 config_major = AltosLib.MISSING;
 638                 config_minor = AltosLib.MISSING;
 639                 apogee_delay = AltosLib.MISSING;
 640                 main_deploy = AltosLib.MISSING;
 641                 flight_log_max = AltosLib.MISSING;
 642
 643                 ground_altitude = new AltosCValue();
 644                 ground_pressure = new AltosGroundPressure();
 645                 altitude = new AltosAltitude();
 646                 pressure = new AltosPressure();
 647                 speed = new AltosSpeed();
 648                 acceleration = new AltosAccel();
 649                 orient = new AltosValue();
 650
 651                 temperature = AltosLib.MISSING;
 652                 battery_voltage = AltosLib.MISSING;
 653                 pyro_voltage = AltosLib.MISSING;
 654                 apogee_voltage = AltosLib.MISSING;
 655                 main_voltage = AltosLib.MISSING;
 656                 ignitor_voltage = null;
 657
 658                 kalman_height = new AltosValue();
 659                 kalman_speed = new AltosValue();
 660                 kalman_acceleration = new AltosValue();
 661
 662                 gps = null;
 663                 temp_gps = null;
 664                 temp_gps_sat_tick = 0;
 665                 gps_sequence = 0;
 666                 gps_pending = false;
 667
 668                 imu = null;
 669                 mag = null;
 670
 671                 set_npad(0);
 672                 ngps = 0;
 673
 674                 from_pad = null;
 675                 elevation = AltosLib.MISSING;
 676                 range = AltosLib.MISSING;
 677                 gps_height = AltosLib.MISSING;
 678
 679                 pad_lat = AltosLib.MISSING;
 680                 pad_lon = AltosLib.MISSING;
 681                 pad_alt = AltosLib.MISSING;
 682
 683                 gps_altitude = new AltosGpsAltitude();
 684                 gps_ground_altitude = new AltosGpsGroundAltitude();
 685
 686                 speak_tick = AltosLib.MISSING;
 687                 speak_altitude = AltosLib.MISSING;
 688
 689                 callsign = null;
 690
 691                 accel_plus_g = AltosLib.MISSING;
 692                 accel_minus_g = AltosLib.MISSING;
 693                 accel = AltosLib.MISSING;
 694
 695                 ground_accel = AltosLib.MISSING;
 696                 ground_accel_avg = AltosLib.MISSING;
 697
 698                 log_format = AltosLib.MISSING;
 699                 serial = AltosLib.MISSING;
 700                 receiver_serial = AltosLib.MISSING;
 701
 702                 baro = null;
 703                 companion = null;
 704         }
 705
 706         void finish_update() {
 707                 prev_tick = tick;
 708
 709                 ground_altitude.finish_update();
 710                 altitude.finish_update();
 711                 pressure.finish_update();
 712                 speed.finish_update();
 713                 acceleration.finish_update();
 714                 orient.finish_update();
 715
 716                 kalman_height.finish_update();
 717                 kalman_speed.finish_update();
 718                 kalman_acceleration.finish_update();
 719         }
 720
 721         void copy(AltosState old) {
 722
 723                 if (old == null) {
 724                         init();
 725                         return;
 726                 }
 727
 728                 received_time = old.received_time;
 729                 time = old.time;
 730                 time_change = old.time_change;
 731                 prev_time = old.time;
 732
 733                 tick = old.tick;
 734                 prev_tick = old.tick;
 735                 boost_tick = old.boost_tick;
 736
 737                 state = old.state;
 738                 flight = old.flight;
 739                 landed = old.landed;
 740                 ascent = old.ascent;
 741                 boost = old.boost;
 742                 rssi = old.rssi;
 743                 status = old.status;
 744                 device_type = old.device_type;
 745                 config_major = old.config_major;
 746                 config_minor = old.config_minor;
 747                 apogee_delay = old.apogee_delay;
 748                 main_deploy = old.main_deploy;
 749                 flight_log_max = old.flight_log_max;
 750
 751                 set = 0;
 752
 753                 ground_pressure.copy(old.ground_pressure);
 754                 ground_altitude.copy(old.ground_altitude);
 755                 altitude.copy(old.altitude);
 756                 pressure.copy(old.pressure);
 757                 speed.copy(old.speed);
 758                 acceleration.copy(old.acceleration);
 759                 orient.copy(old.orient);
 760
 761                 battery_voltage = old.battery_voltage;
 762                 pyro_voltage = old.pyro_voltage;
 763                 temperature = old.temperature;
 764                 apogee_voltage = old.apogee_voltage;
 765                 main_voltage = old.main_voltage;
 766                 ignitor_voltage = old.ignitor_voltage;
 767
 768                 kalman_height.copy(old.kalman_height);
 769                 kalman_speed.copy(old.kalman_speed);
 770                 kalman_acceleration.copy(old.kalman_acceleration);
 771
 772                 if (old.gps != null)
 773                         gps = old.gps.clone();
 774                 else
 775                         gps = null;
 776                 if (old.temp_gps != null)
 777                         temp_gps = old.temp_gps.clone();
 778                 else
 779                         temp_gps = null;
 780                 temp_gps_sat_tick = old.temp_gps_sat_tick;
 781                 gps_sequence = old.gps_sequence;
 782                 gps_pending = old.gps_pending;
 783
 784                 if (old.imu != null)
 785                         imu = old.imu.clone();
 786                 else
 787                         imu = null;
 788
 789                 if (old.mag != null)
 790                         mag = old.mag.clone();
 791                 else
 792                         mag = null;
 793
 794                 npad = old.npad;
 795                 gps_waiting = old.gps_waiting;
 796                 gps_ready = old.gps_ready;
 797                 ngps = old.ngps;
 798
 799                 if (old.from_pad != null)
 800                         from_pad = old.from_pad.clone();
 801                 else
 802                         from_pad = null;
 803
 804                 elevation = old.elevation;
 805                 range = old.range;
 806
 807                 gps_height = old.gps_height;
 808
 809                 gps_altitude.copy(old.gps_altitude);
 810                 gps_ground_altitude.copy(old.gps_ground_altitude);
 811
 812                 pad_lat = old.pad_lat;
 813                 pad_lon = old.pad_lon;
 814                 pad_alt = old.pad_alt;
 815
 816                 speak_tick = old.speak_tick;
 817                 speak_altitude = old.speak_altitude;
 818
 819                 callsign = old.callsign;
 820
 821                 accel_plus_g = old.accel_plus_g;
 822                 accel_minus_g = old.accel_minus_g;
 823                 accel = old.accel;
 824                 ground_accel = old.ground_accel;
 825                 ground_accel_avg = old.ground_accel_avg;
 826
 827                 log_format = old.log_format;
 828                 serial = old.serial;
 829                 receiver_serial = old.receiver_serial;
 830
 831                 baro = old.baro;
 832                 companion = old.companion;
 833         }
 834
 835         void update_time() {
 836         }
 837
 838         void update_gps() {
 839                 elevation = 0;
 840                 range = -1;
 841                 gps_height = 0;
 842
 843                 if (gps == null)
 844                         return;
 845
 846                 if (gps.locked && gps.nsat >= 4) {
 847                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 848                         if (state == AltosLib.ao_flight_pad) {
 849                                 set_npad(npad+1);
 850                                 if (pad_lat != AltosLib.MISSING) {
 851                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
 852                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
 853                                         gps_ground_altitude.set_filtered(gps.alt, time);
 854                                 }
 855                         }
 856                         if (pad_lat == AltosLib.MISSING) {
 857                                 pad_lat = gps.lat;
 858                                 pad_lon = gps.lon;
 859                                 gps_ground_altitude.set(gps.alt, time);
 860                         }
 861                         gps_altitude.set(gps.alt, time);
 862                 }
 863                 if (gps.lat != 0 && gps.lon != 0 &&
 864                     pad_lat != AltosLib.MISSING &&
 865                     pad_lon != AltosLib.MISSING)
 866                 {
 867                         double h = height();
 868
 869                         if (h == AltosLib.MISSING)
 870                                 h = 0;
 871                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 872                         elevation = from_pad.elevation;
 873                         range = from_pad.range;
 874                 }
 875         }
 876
 877         public void set_tick(int new_tick) {
 878                 if (new_tick != AltosLib.MISSING) {
 879                         if (prev_tick != AltosLib.MISSING) {
 880                                 while (new_tick < prev_tick - 1000) {
 881                                         new_tick += 65536;
 882                                 }
 883                         }
 884                         tick = new_tick;
 885                         time = tick / 100.0;
 886                         time_change = time - prev_time;
 887                 }
 888         }
 889
 890         public void set_boost_tick(int boost_tick) {
 891                 if (boost_tick != AltosLib.MISSING)
 892                         this.boost_tick = boost_tick;
 893         }
 894
 895         public String state_name() {
 896                 return AltosLib.state_name(state);
 897         }
 898
 899         public void set_state(int state) {
 900                 if (state != AltosLib.ao_flight_invalid) {
 901                         this.state = state;
 902                         ascent = (AltosLib.ao_flight_boost <= state &&
 903                                   state <= AltosLib.ao_flight_coast);
 904                         boost = (AltosLib.ao_flight_boost == state);
 905                 }
 906
 907         }
 908
 909         public void set_device_type(int device_type) {
 910                 this.device_type = device_type;
 911         }
 912
 913         public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
 914                 config_major = major;
 915                 config_minor = minor;
 916                 this.apogee_delay = apogee_delay;
 917                 this.main_deploy = main_deploy;
 918                 this.flight_log_max = flight_log_max;
 919         }
 920
 921         public void set_callsign(String callsign) {
 922                 this.callsign = callsign;
 923         }
 924
 925         public void set_firmware_version(String version) {
 926                 firmware_version = version;
 927         }
 928
 929         public void set_flight(int flight) {
 930
 931                 /* When the flight changes, reset the state */
 932                 if (flight != AltosLib.MISSING && flight != 0) {
 933                         if (this.flight != AltosLib.MISSING &&
 934                             this.flight != flight) {
 935                                 int bt = boost_tick;
 936                                 init();
 937                                 boost_tick = bt;
 938                         }
 939                         this.flight = flight;
 940                 }
 941         }
 942
 943         public void set_serial(int serial) {
 944                 /* When the serial changes, reset the state */
 945                 if (serial != AltosLib.MISSING) {
 946                         if (this.serial != AltosLib.MISSING &&
 947                             this.serial != serial) {
 948                                 int bt = boost_tick;
 949                                 init();
 950                                 boost_tick = bt;
 951                         }
 952                         this.serial = serial;
 953                 }
 954         }
 955
 956         public void set_receiver_serial(int serial) {
 957                 if (serial != AltosLib.MISSING)
 958                         receiver_serial = serial;
 959         }
 960
 961         public int rssi() {
 962                 if (rssi == AltosLib.MISSING)
 963                         return 0;
 964                 return rssi;
 965         }
 966
 967         public void set_rssi(int rssi, int status) {
 968                 if (rssi != AltosLib.MISSING) {
 969                         this.rssi = rssi;
 970                         this.status = status;
 971                 }
 972         }
 973
 974         public void set_received_time(long ms) {
 975                 received_time = ms;
 976         }
 977
 978         public void set_gps(AltosGPS gps, int sequence) {
 979                 if (gps != null) {
 980                         this.gps = gps.clone();
 981                         gps_sequence = sequence;
 982                         update_gps();
 983                         set |= set_gps;
 984                 }
 985         }
 986
 987         public void set_imu(AltosIMU imu) {
 988                 if (imu != null)
 989                         imu = imu.clone();
 990                 this.imu = imu;
 991         }
 992
 993         public void set_mag(AltosMag mag) {
 994                 this.mag = mag.clone();
 995         }
 996
 997         public AltosMs5607 make_baro() {
 998                 if (baro == null)
 999                         baro = new AltosMs5607();
1000                 return baro;
1001         }
1002
1003         public void set_ms5607(AltosMs5607 ms5607) {
1004                 baro = ms5607;
1005
1006                 if (baro != null) {
1007                         set_pressure(baro.pa);
1008                         set_temperature(baro.cc / 100.0);
1009                 }
1010         }
1011
1012         public void set_ms5607(int pres, int temp) {
1013                 if (baro != null) {
1014                         baro.set(pres, temp);
1015
1016                         set_pressure(baro.pa);
1017                         set_temperature(baro.cc / 100.0);
1018                 }
1019         }
1020
1021         public void make_companion (int nchannels) {
1022                 if (companion == null)
1023                         companion = new AltosCompanion(nchannels);
1024         }
1025
1026         public void set_companion(AltosCompanion companion) {
1027                 this.companion = companion;
1028         }
1029
1030         void update_accel() {
1031                 if (accel == AltosLib.MISSING)
1032                         return;
1033                 if (accel_plus_g == AltosLib.MISSING)
1034                         return;
1035                 if (accel_minus_g == AltosLib.MISSING)
1036                         return;
1037
1038                 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
1039                 double counts_per_mss = counts_per_g / 9.80665;
1040                 acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
1041         }
1042
1043         public void set_accel_g(double accel_plus_g, double accel_minus_g) {
1044                 if (accel_plus_g != AltosLib.MISSING) {
1045                         this.accel_plus_g = accel_plus_g;
1046                         this.accel_minus_g = accel_minus_g;
1047                         update_accel();
1048                 }
1049         }
1050
1051         public void set_ground_accel(double ground_accel) {
1052                 if (ground_accel != AltosLib.MISSING)
1053                         this.ground_accel = ground_accel;
1054         }
1055
1056         public void set_accel(double accel) {
1057                 if (accel != AltosLib.MISSING) {
1058                         this.accel = accel;
1059                         if (state == AltosLib.ao_flight_pad) {
1060                                 if (ground_accel_avg == AltosLib.MISSING)
1061                                         ground_accel_avg = accel;
1062                                 else
1063                                         ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
1064                         }
1065                 }
1066                 update_accel();
1067         }
1068
1069         public void set_temperature(double temperature) {
1070                 if (temperature != AltosLib.MISSING) {
1071                         this.temperature = temperature;
1072                         set |= set_data;
1073                 }
1074         }
1075
1076         public void set_battery_voltage(double battery_voltage) {
1077                 if (battery_voltage != AltosLib.MISSING) {
1078                         this.battery_voltage = battery_voltage;
1079                         set |= set_data;
1080                 }
1081         }
1082
1083         public void set_pyro_voltage(double pyro_voltage) {
1084                 if (pyro_voltage != AltosLib.MISSING) {
1085                         this.pyro_voltage = pyro_voltage;
1086                         set |= set_data;
1087                 }
1088         }
1089
1090         public void set_apogee_voltage(double apogee_voltage) {
1091                 if (apogee_voltage != AltosLib.MISSING) {
1092                         this.apogee_voltage = apogee_voltage;
1093                         set |= set_data;
1094                 }
1095         }
1096
1097         public void set_main_voltage(double main_voltage) {
1098                 if (main_voltage != AltosLib.MISSING) {
1099                         this.main_voltage = main_voltage;
1100                         set |= set_data;
1101                 }
1102         }
1103
1104         public void set_ignitor_voltage(double[] voltage) {
1105                 this.ignitor_voltage = voltage;
1106         }
1107
1108         public double time_since_boost() {
1109                 if (tick == AltosLib.MISSING)
1110                         return 0.0;
1111
1112                 if (boost_tick == AltosLib.MISSING)
1113                         return tick / 100.0;
1114                 return (tick - boost_tick) / 100.0;
1115         }
1116
1117         public boolean valid() {
1118                 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1119         }
1120
1121         public AltosGPS make_temp_gps(boolean sats) {
1122                 if (temp_gps == null) {
1123                         temp_gps = new AltosGPS(gps);
1124                 }
1125                 gps_pending = true;
1126                 if (sats) {
1127                         if (tick != temp_gps_sat_tick)
1128                                 temp_gps.cc_gps_sat = null;
1129                         temp_gps_sat_tick = tick;
1130                 }
1131                 return temp_gps;
1132         }
1133
1134         public void set_temp_gps() {
1135                 set_gps(temp_gps, gps_sequence + 1);
1136                 gps_pending = false;
1137                 temp_gps = null;
1138         }
1139
1140         public AltosState clone() {
1141                 AltosState s = new AltosState();
1142                 s.copy(this);
1143                 return s;
1144         }
1145
1146         public AltosState () {
1147                 init();
1148         }
1149 }