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_4;
  23
  24 public class AltosState implements Cloneable {
  25
  26         public static final int set_position = 1;
  27         public static final int set_gps = 2;
  28         public static final int set_data = 4;
  29
  30         public int set;
  31
  32         static final double ascent_filter_len = 0.5;
  33         static final double descent_filter_len = 0.5;
  34
  35         /* derived data */
  36
  37         public long     received_time;
  38
  39         public double   time;
  40         public double   prev_time;
  41         public double   time_change;
  42         public int      tick;
  43         private int     prev_tick;
  44         public int      boost_tick;
  45
  46         class AltosValue {
  47                 private double  value;
  48                 private double  prev_value;
  49                 private double  max_value;
  50                 private double  set_time;
  51                 private double  prev_set_time;
  52
  53                 boolean can_max() { return true; }
  54
  55                 void set(double new_value, double time) {
  56                         if (new_value != AltosLib.MISSING) {
  57                                 value = new_value;
  58                                 if (can_max() && (max_value == AltosLib.MISSING || value > max_value))
  59                                         max_value = value;
  60                                 set_time = time;
  61                         }
  62                 }
  63
  64                 void set_filtered(double new_value, double time) {
  65                         if (prev_value != AltosLib.MISSING)
  66                                 new_value = (prev_value * 15.0 + new_value) / 16.0;
  67                         set(new_value, time);
  68                 }
  69
  70                 double value() {
  71                         return value;
  72                 }
  73
  74                 double max() {
  75                         return max_value;
  76                 }
  77
  78                 double prev() {
  79                         return prev_value;
  80                 }
  81
  82                 double change() {
  83                         if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
  84                                 return value - prev_value;
  85                         return AltosLib.MISSING;
  86                 }
  87
  88                 double rate() {
  89                         double c = change();
  90                         double t = set_time - prev_set_time;
  91
  92                         if (c != AltosLib.MISSING && t != 0)
  93                                 return c / t;
  94                         return AltosLib.MISSING;
  95                 }
  96
  97                 double integrate() {
  98                         if (value == AltosLib.MISSING)
  99                                 return AltosLib.MISSING;
 100                         if (prev_value == AltosLib.MISSING)
 101                                 return AltosLib.MISSING;
 102
 103                         return (value + prev_value) / 2 * (set_time - prev_set_time);
 104                 }
 105
 106                 double time() {
 107                         return set_time;
 108                 }
 109
 110                 void set_derivative(AltosValue in) {
 111                         double  n = in.rate();
 112
 113                         if (n == AltosLib.MISSING)
 114                                 return;
 115
 116                         double  p = prev_value;
 117                         double  pt = prev_set_time;
 118
 119                         if (p == AltosLib.MISSING) {
 120                                 p = 0;
 121                                 pt = in.time() - 0.01;
 122                         }
 123
 124                         /* Clip changes to reduce noise */
 125                         double  ddt = in.time() - pt;
 126                         double  ddv = (n - p) / ddt;
 127
 128                         final double max = 100000;
 129
 130                         /* 100gs */
 131                         if (Math.abs(ddv) > max) {
 132                                 if (n > p)
 133                                         n = p + ddt * max;
 134                                 else
 135                                         n = p - ddt * max;
 136                         }
 137
 138                         double filter_len;
 139
 140                         if (ascent)
 141                                 filter_len = ascent_filter_len;
 142                         else
 143                                 filter_len = descent_filter_len;
 144
 145                         double f = 1/Math.exp(ddt/ filter_len);
 146                         n = p * f + n * (1-f);
 147
 148                         set(n, in.time());
 149                 }
 150
 151                 void set_integral(AltosValue in) {
 152                         double  change = in.integrate();
 153
 154                         if (change != AltosLib.MISSING) {
 155                                 double  prev = prev_value;
 156                                 if (prev == AltosLib.MISSING)
 157                                         prev = 0;
 158                                 set(prev + change, in.time());
 159                         }
 160                 }
 161
 162                 void copy(AltosValue old) {
 163                         value = old.value;
 164                         set_time = old.set_time;
 165                         prev_value = old.value;
 166                         prev_set_time = old.set_time;
 167                         max_value = old.max_value;
 168                 }
 169
 170                 void finish_update() {
 171                         prev_value = value;
 172                         prev_set_time = set_time;
 173                 }
 174
 175                 AltosValue() {
 176                         value = AltosLib.MISSING;
 177                         prev_value = AltosLib.MISSING;
 178                         max_value = AltosLib.MISSING;
 179                 }
 180         }
 181
 182         class AltosCValue {
 183                 AltosValue      measured;
 184                 AltosValue      computed;
 185
 186                 double value() {
 187                         double v = measured.value();
 188                         if (v != AltosLib.MISSING)
 189                                 return v;
 190                         return computed.value();
 191                 }
 192
 193                 boolean is_measured() {
 194                         return measured.value() != AltosLib.MISSING;
 195                 }
 196
 197                 double max() {
 198                         double m = measured.max();
 199
 200                         if (m != AltosLib.MISSING)
 201                                 return m;
 202                         return computed.max();
 203                 }
 204
 205                 double prev_value() {
 206                         if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
 207                                 return measured.prev_value;
 208                         return computed.prev_value;
 209                 }
 210
 211                 AltosValue altos_value() {
 212                         if (measured.value() != AltosLib.MISSING)
 213                                 return measured;
 214                         return computed;
 215                 }
 216
 217                 double change() {
 218                         double c = measured.change();
 219                         if (c == AltosLib.MISSING)
 220                                 c = computed.change();
 221                         return c;
 222                 }
 223
 224                 double rate() {
 225                         double r = measured.rate();
 226                         if (r == AltosLib.MISSING)
 227                                 r = computed.rate();
 228                         return r;
 229                 }
 230
 231                 void set_measured(double new_value, double time) {
 232                         measured.set(new_value, time);
 233                 }
 234
 235                 void set_computed(double new_value, double time) {
 236                         computed.set(new_value, time);
 237                 }
 238
 239                 void set_derivative(AltosValue in) {
 240                         computed.set_derivative(in);
 241                 }
 242
 243                 void set_derivative(AltosCValue in) {
 244                         set_derivative(in.altos_value());
 245                 }
 246
 247                 void set_integral(AltosValue in) {
 248                         computed.set_integral(in);
 249                 }
 250
 251                 void set_integral(AltosCValue in) {
 252                         set_integral(in.altos_value());
 253                 }
 254
 255                 void copy(AltosCValue old) {
 256                         measured.copy(old.measured);
 257                         computed.copy(old.computed);
 258                 }
 259
 260                 void finish_update() {
 261                         measured.finish_update();
 262                         computed.finish_update();
 263                 }
 264
 265                 AltosCValue() {
 266                         measured = new AltosValue();
 267                         computed = new AltosValue();
 268                 }
 269         }
 270
 271         public int      state;
 272         public int      flight;
 273         public int      serial;
 274         public int      receiver_serial;
 275         public boolean  landed;
 276         public boolean  ascent; /* going up? */
 277         public boolean  boost;  /* under power */
 278         public int      rssi;
 279         public int      status;
 280         public int      device_type;
 281         public int      config_major;
 282         public int      config_minor;
 283         public int      apogee_delay;
 284         public int      main_deploy;
 285         public int      flight_log_max;
 286
 287         private double pressure_to_altitude(double p) {
 288                 if (p == AltosLib.MISSING)
 289                         return AltosLib.MISSING;
 290                 return AltosConvert.pressure_to_altitude(p);
 291         }
 292
 293         private AltosCValue ground_altitude;
 294
 295         public double ground_altitude() {
 296                 return ground_altitude.value();
 297         }
 298
 299         public void set_ground_altitude(double a) {
 300                 ground_altitude.set_measured(a, time);
 301         }
 302
 303         class AltosGpsGroundAltitude extends AltosValue {
 304                 void set(double a, double t) {
 305                         super.set(a, t);
 306                         pad_alt = value();
 307                         gps_altitude.set_gps_height();
 308                 }
 309
 310                 void set_filtered(double a, double t) {
 311                         super.set_filtered(a, t);
 312                         pad_alt = value();
 313                         gps_altitude.set_gps_height();
 314                 }
 315         }
 316
 317         private AltosGpsGroundAltitude gps_ground_altitude;
 318
 319         public double gps_ground_altitude() {
 320                 return gps_ground_altitude.value();
 321         }
 322
 323         public void set_gps_ground_altitude(double a) {
 324                 gps_ground_altitude.set(a, time);
 325         }
 326
 327         class AltosGroundPressure extends AltosCValue {
 328                 void set_filtered(double p, double time) {
 329                         computed.set_filtered(p, time);
 330                         if (!is_measured())
 331                                 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
 332                 }
 333
 334                 void set_measured(double p, double time) {
 335                         super.set_measured(p, time);
 336                         ground_altitude.set_computed(pressure_to_altitude(p), time);
 337                 }
 338         }
 339
 340         private AltosGroundPressure ground_pressure;
 341
 342         public double ground_pressure() {
 343                 return ground_pressure.value();
 344         }
 345
 346         public void set_ground_pressure (double pressure) {
 347                 ground_pressure.set_measured(pressure, time);
 348         }
 349
 350         class AltosAltitude extends AltosCValue {
 351
 352                 private void set_speed(AltosValue v) {
 353                         if (!acceleration.is_measured() || !ascent)
 354                                 speed.set_derivative(this);
 355                 }
 356
 357                 void set_computed(double a, double time) {
 358                         super.set_computed(a,time);
 359                         set_speed(computed);
 360                         set |= set_position;
 361                 }
 362
 363                 void set_measured(double a, double time) {
 364                         super.set_measured(a,time);
 365                         set_speed(measured);
 366                         set |= set_position;
 367                 }
 368         }
 369
 370         private AltosAltitude   altitude;
 371
 372         class AltosGpsAltitude extends AltosValue {
 373
 374                 private void set_gps_height() {
 375                         double  a = value();
 376                         double  g = gps_ground_altitude.value();
 377
 378                         if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 379                                 gps_height = a - g;
 380                         else
 381                                 gps_height = AltosLib.MISSING;
 382                 }
 383
 384                 void set(double a, double t) {
 385                         super.set(a, t);
 386                         set_gps_height();
 387                 }
 388         }
 389
 390         private AltosGpsAltitude        gps_altitude;
 391
 392         private AltosValue              gps_ground_speed;
 393         private AltosValue              gps_ascent_rate;
 394         private AltosValue              gps_course;
 395
 396         public double altitude() {
 397                 double a = altitude.value();
 398                 if (a != AltosLib.MISSING)
 399                         return a;
 400                 return gps_altitude.value();
 401         }
 402
 403         public double max_altitude() {
 404                 double a = altitude.max();
 405                 if (a != AltosLib.MISSING)
 406                         return a;
 407                 return gps_altitude.max();
 408         }
 409
 410         public void set_altitude(double new_altitude) {
 411                 altitude.set_measured(new_altitude, time);
 412         }
 413
 414         public double gps_altitude() {
 415                 return gps_altitude.value();
 416         }
 417
 418         public double max_gps_altitude() {
 419                 return gps_altitude.max();
 420         }
 421
 422         public void set_gps_altitude(double new_gps_altitude) {
 423                 gps_altitude.set(new_gps_altitude, time);
 424         }
 425
 426         public double gps_ground_speed() {
 427                 return gps_ground_speed.value();
 428         }
 429
 430         public double gps_ascent_rate() {
 431                 return gps_ascent_rate.value();
 432         }
 433
 434         public double gps_course() {
 435                 return gps_course.value();
 436         }
 437
 438         class AltosPressure extends AltosValue {
 439                 void set(double p, double time) {
 440                         super.set(p, time);
 441                         if (state == AltosLib.ao_flight_pad)
 442                                 ground_pressure.set_filtered(p, time);
 443                         double a = pressure_to_altitude(p);
 444                         altitude.set_computed(a, time);
 445                 }
 446         }
 447
 448         private AltosPressure   pressure;
 449
 450         public double pressure() {
 451                 return pressure.value();
 452         }
 453
 454         public void set_pressure(double p) {
 455                 pressure.set(p, time);
 456         }
 457
 458         public double height() {
 459                 double k = kalman_height.value();
 460                 if (k != AltosLib.MISSING)
 461                         return k;
 462
 463                 double a = altitude();
 464                 double g = ground_altitude();
 465                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 466                         return a - g;
 467                 return AltosLib.MISSING;
 468         }
 469
 470         public double max_height() {
 471                 double  k = kalman_height.max();
 472                 if (k != AltosLib.MISSING)
 473                         return k;
 474
 475                 double a = altitude.max();
 476                 double g = ground_altitude();
 477                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 478                         return a - g;
 479                 return AltosLib.MISSING;
 480         }
 481
 482         public double gps_height() {
 483                 double a = gps_altitude();
 484                 double g = gps_ground_altitude();
 485
 486                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 487                         return a - g;
 488                 return AltosLib.MISSING;
 489         }
 490
 491         public double max_gps_height() {
 492                 double a = gps_altitude.max();
 493                 double g = gps_ground_altitude();
 494
 495                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 496                         return a - g;
 497                 return AltosLib.MISSING;
 498         }
 499
 500         class AltosSpeed extends AltosCValue {
 501
 502                 boolean can_max() {
 503                         return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
 504                 }
 505
 506                 void set_accel() {
 507                         acceleration.set_derivative(this);
 508                 }
 509
 510                 void set_derivative(AltosCValue in) {
 511                         super.set_derivative(in);
 512                         set_accel();
 513                 }
 514
 515                 void set_computed(double new_value, double time) {
 516                         super.set_computed(new_value, time);
 517                         set_accel();
 518                 }
 519
 520                 void set_measured(double new_value, double time) {
 521                         super.set_measured(new_value, time);
 522                         set_accel();
 523                 }
 524         }
 525
 526         private AltosSpeed speed;
 527
 528         public double speed() {
 529                 double v = kalman_speed.value();
 530                 if (v != AltosLib.MISSING)
 531                         return v;
 532                 return speed.value();
 533         }
 534
 535         public double max_speed() {
 536                 double v = kalman_speed.max();
 537                 if (v != AltosLib.MISSING)
 538                         return v;
 539                 return speed.max();
 540         }
 541
 542         class AltosAccel extends AltosCValue {
 543
 544                 boolean can_max() {
 545                         return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
 546                 }
 547
 548                 void set_measured(double a, double time) {
 549                         super.set_measured(a, time);
 550                         if (ascent)
 551                                 speed.set_integral(this.measured);
 552                 }
 553         }
 554
 555         AltosAccel acceleration;
 556
 557         public double acceleration() {
 558                 return acceleration.value();
 559         }
 560
 561         public double max_acceleration() {
 562                 return acceleration.max();
 563         }
 564
 565         public AltosValue       orient;
 566
 567         public void set_orient(double new_orient) {
 568                 orient.set(new_orient, time);
 569         }
 570
 571         public double orient() {
 572                 return orient.value();
 573         }
 574
 575         public double max_orient() {
 576                 return orient.max();
 577         }
 578
 579         public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 580
 581         public void set_kalman(double height, double speed, double acceleration) {
 582                 kalman_height.set(height, time);
 583                 kalman_speed.set(speed, time);
 584                 kalman_acceleration.set(acceleration, time);
 585         }
 586
 587         public double   battery_voltage;
 588         public double   pyro_voltage;
 589         public double   temperature;
 590         public double   apogee_voltage;
 591         public double   main_voltage;
 592
 593         public double   ignitor_voltage[];
 594
 595         public AltosGPS gps;
 596         public AltosGPS temp_gps;
 597         public int temp_gps_sat_tick;
 598         public boolean  gps_pending;
 599         public int gps_sequence;
 600
 601         public AltosIMU imu;
 602         public AltosMag mag;
 603
 604         public static final int MIN_PAD_SAMPLES = 10;
 605
 606         public int      npad;
 607         public int      gps_waiting;
 608         public boolean  gps_ready;
 609
 610         public int      ngps;
 611
 612         public AltosGreatCircle from_pad;
 613         public double   elevation;      /* from pad */
 614         public double   range;          /* total distance */
 615
 616         public double   gps_height;
 617
 618         public double pad_lat, pad_lon, pad_alt;
 619
 620         public int      speak_tick;
 621         public double   speak_altitude;
 622
 623         public String   callsign;
 624         public String   firmware_version;
 625
 626         public double   accel_plus_g;
 627         public double   accel_minus_g;
 628         public double   accel;
 629         public double   ground_accel;
 630         public double   ground_accel_avg;
 631
 632         public int      log_format;
 633         public String   product;
 634
 635         public AltosMs5607      baro;
 636
 637         public AltosCompanion   companion;
 638
 639         public int      pyro_fired;
 640
 641         public void set_npad(int npad) {
 642                 this.npad = npad;
 643                 gps_waiting = MIN_PAD_SAMPLES - npad;
 644                 if (this.gps_waiting < 0)
 645                         gps_waiting = 0;
 646                 gps_ready = gps_waiting == 0;
 647         }
 648
 649         public void init() {
 650                 set = 0;
 651
 652                 received_time = System.currentTimeMillis();
 653                 time = AltosLib.MISSING;
 654                 time_change = AltosLib.MISSING;
 655                 prev_time = AltosLib.MISSING;
 656                 tick = AltosLib.MISSING;
 657                 prev_tick = AltosLib.MISSING;
 658                 boost_tick = AltosLib.MISSING;
 659                 state = AltosLib.ao_flight_invalid;
 660                 flight = AltosLib.MISSING;
 661                 landed = false;
 662                 boost = false;
 663                 rssi = AltosLib.MISSING;
 664                 status = 0;
 665                 device_type = AltosLib.MISSING;
 666                 config_major = AltosLib.MISSING;
 667                 config_minor = AltosLib.MISSING;
 668                 apogee_delay = AltosLib.MISSING;
 669                 main_deploy = AltosLib.MISSING;
 670                 flight_log_max = AltosLib.MISSING;
 671
 672                 ground_altitude = new AltosCValue();
 673                 ground_pressure = new AltosGroundPressure();
 674                 altitude = new AltosAltitude();
 675                 pressure = new AltosPressure();
 676                 speed = new AltosSpeed();
 677                 acceleration = new AltosAccel();
 678                 orient = new AltosValue();
 679
 680                 temperature = AltosLib.MISSING;
 681                 battery_voltage = AltosLib.MISSING;
 682                 pyro_voltage = AltosLib.MISSING;
 683                 apogee_voltage = AltosLib.MISSING;
 684                 main_voltage = AltosLib.MISSING;
 685                 ignitor_voltage = null;
 686
 687                 kalman_height = new AltosValue();
 688                 kalman_speed = new AltosValue();
 689                 kalman_acceleration = new AltosValue();
 690
 691                 gps = null;
 692                 temp_gps = null;
 693                 temp_gps_sat_tick = 0;
 694                 gps_sequence = 0;
 695                 gps_pending = false;
 696
 697                 imu = null;
 698                 mag = null;
 699
 700                 set_npad(0);
 701                 ngps = 0;
 702
 703                 from_pad = null;
 704                 elevation = AltosLib.MISSING;
 705                 range = AltosLib.MISSING;
 706                 gps_height = AltosLib.MISSING;
 707
 708                 pad_lat = AltosLib.MISSING;
 709                 pad_lon = AltosLib.MISSING;
 710                 pad_alt = AltosLib.MISSING;
 711
 712                 gps_altitude = new AltosGpsAltitude();
 713                 gps_ground_altitude = new AltosGpsGroundAltitude();
 714                 gps_ground_speed = new AltosValue();
 715                 gps_ascent_rate = new AltosValue();
 716                 gps_course = new AltosValue();
 717
 718                 speak_tick = AltosLib.MISSING;
 719                 speak_altitude = AltosLib.MISSING;
 720
 721                 callsign = null;
 722
 723                 accel_plus_g = AltosLib.MISSING;
 724                 accel_minus_g = AltosLib.MISSING;
 725                 accel = AltosLib.MISSING;
 726
 727                 ground_accel = AltosLib.MISSING;
 728                 ground_accel_avg = AltosLib.MISSING;
 729
 730                 log_format = AltosLib.MISSING;
 731                 product = null;
 732                 serial = AltosLib.MISSING;
 733                 receiver_serial = AltosLib.MISSING;
 734
 735                 baro = null;
 736                 companion = null;
 737
 738                 pyro_fired = 0;
 739         }
 740
 741         void finish_update() {
 742                 prev_tick = tick;
 743
 744                 ground_altitude.finish_update();
 745                 altitude.finish_update();
 746                 pressure.finish_update();
 747                 speed.finish_update();
 748                 acceleration.finish_update();
 749                 orient.finish_update();
 750
 751                 kalman_height.finish_update();
 752                 kalman_speed.finish_update();
 753                 kalman_acceleration.finish_update();
 754         }
 755
 756         void copy(AltosState old) {
 757
 758                 if (old == null) {
 759                         init();
 760                         return;
 761                 }
 762
 763                 received_time = old.received_time;
 764                 time = old.time;
 765                 time_change = old.time_change;
 766                 prev_time = old.time;
 767
 768                 tick = old.tick;
 769                 prev_tick = old.tick;
 770                 boost_tick = old.boost_tick;
 771
 772                 state = old.state;
 773                 flight = old.flight;
 774                 landed = old.landed;
 775                 ascent = old.ascent;
 776                 boost = old.boost;
 777                 rssi = old.rssi;
 778                 status = old.status;
 779                 device_type = old.device_type;
 780                 config_major = old.config_major;
 781                 config_minor = old.config_minor;
 782                 apogee_delay = old.apogee_delay;
 783                 main_deploy = old.main_deploy;
 784                 flight_log_max = old.flight_log_max;
 785
 786                 set = 0;
 787
 788                 ground_pressure.copy(old.ground_pressure);
 789                 ground_altitude.copy(old.ground_altitude);
 790                 altitude.copy(old.altitude);
 791                 pressure.copy(old.pressure);
 792                 speed.copy(old.speed);
 793                 acceleration.copy(old.acceleration);
 794                 orient.copy(old.orient);
 795
 796                 battery_voltage = old.battery_voltage;
 797                 pyro_voltage = old.pyro_voltage;
 798                 temperature = old.temperature;
 799                 apogee_voltage = old.apogee_voltage;
 800                 main_voltage = old.main_voltage;
 801                 ignitor_voltage = old.ignitor_voltage;
 802
 803                 kalman_height.copy(old.kalman_height);
 804                 kalman_speed.copy(old.kalman_speed);
 805                 kalman_acceleration.copy(old.kalman_acceleration);
 806
 807                 if (old.gps != null)
 808                         gps = old.gps.clone();
 809                 else
 810                         gps = null;
 811                 if (old.temp_gps != null)
 812                         temp_gps = old.temp_gps.clone();
 813                 else
 814                         temp_gps = null;
 815                 temp_gps_sat_tick = old.temp_gps_sat_tick;
 816                 gps_sequence = old.gps_sequence;
 817                 gps_pending = old.gps_pending;
 818
 819                 if (old.imu != null)
 820                         imu = old.imu.clone();
 821                 else
 822                         imu = null;
 823
 824                 if (old.mag != null)
 825                         mag = old.mag.clone();
 826                 else
 827                         mag = null;
 828
 829                 npad = old.npad;
 830                 gps_waiting = old.gps_waiting;
 831                 gps_ready = old.gps_ready;
 832                 ngps = old.ngps;
 833
 834                 if (old.from_pad != null)
 835                         from_pad = old.from_pad.clone();
 836                 else
 837                         from_pad = null;
 838
 839                 elevation = old.elevation;
 840                 range = old.range;
 841
 842                 gps_height = old.gps_height;
 843
 844                 gps_altitude.copy(old.gps_altitude);
 845                 gps_ground_altitude.copy(old.gps_ground_altitude);
 846                 gps_ground_speed.copy(old.gps_ground_speed);
 847                 gps_ascent_rate.copy(old.gps_ascent_rate);
 848                 gps_course.copy(old.gps_course);
 849
 850                 pad_lat = old.pad_lat;
 851                 pad_lon = old.pad_lon;
 852                 pad_alt = old.pad_alt;
 853
 854                 speak_tick = old.speak_tick;
 855                 speak_altitude = old.speak_altitude;
 856
 857                 callsign = old.callsign;
 858
 859                 accel_plus_g = old.accel_plus_g;
 860                 accel_minus_g = old.accel_minus_g;
 861                 accel = old.accel;
 862                 ground_accel = old.ground_accel;
 863                 ground_accel_avg = old.ground_accel_avg;
 864
 865                 log_format = old.log_format;
 866                 product = old.product;
 867                 serial = old.serial;
 868                 receiver_serial = old.receiver_serial;
 869
 870                 baro = old.baro;
 871                 companion = old.companion;
 872
 873                 pyro_fired = old.pyro_fired;
 874         }
 875
 876         void update_time() {
 877         }
 878
 879         void update_gps() {
 880                 elevation = 0;
 881                 range = -1;
 882
 883                 if (gps == null)
 884                         return;
 885
 886                 if (gps.locked && gps.nsat >= 4) {
 887                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 888                         if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) {
 889                                 set_npad(npad+1);
 890                                 if (pad_lat != AltosLib.MISSING && (npad < 10 || state == AltosLib.ao_flight_pad)) {
 891                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
 892                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
 893                                         gps_ground_altitude.set_filtered(gps.alt, time);
 894                                 }
 895                         }
 896                         if (pad_lat == AltosLib.MISSING) {
 897                                 pad_lat = gps.lat;
 898                                 pad_lon = gps.lon;
 899                                 gps_ground_altitude.set(gps.alt, time);
 900                         }
 901                         gps_altitude.set(gps.alt, time);
 902                         if (gps.climb_rate != AltosLib.MISSING)
 903                                 gps_ascent_rate.set(gps.climb_rate, time);
 904                         if (gps.ground_speed != AltosLib.MISSING)
 905                                 gps_ground_speed.set(gps.ground_speed, time);
 906                         if (gps.course != AltosLib.MISSING)
 907                                 gps_course.set(gps.course, time);
 908                 }
 909                 if (gps.lat != 0 && gps.lon != 0 &&
 910                     pad_lat != AltosLib.MISSING &&
 911                     pad_lon != AltosLib.MISSING)
 912                 {
 913                         double h = height();
 914
 915                         if (h == AltosLib.MISSING)
 916                                 h = 0;
 917                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 918                         elevation = from_pad.elevation;
 919                         range = from_pad.range;
 920                 }
 921         }
 922
 923         public void set_tick(int new_tick) {
 924                 if (new_tick != AltosLib.MISSING) {
 925                         if (prev_tick != AltosLib.MISSING) {
 926                                 while (new_tick < prev_tick - 1000) {
 927                                         new_tick += 65536;
 928                                 }
 929                         }
 930                         tick = new_tick;
 931                         time = tick / 100.0;
 932                         time_change = time - prev_time;
 933                 }
 934         }
 935
 936         public void set_boost_tick(int boost_tick) {
 937                 if (boost_tick != AltosLib.MISSING)
 938                         this.boost_tick = boost_tick;
 939         }
 940
 941         public String state_name() {
 942                 return AltosLib.state_name(state);
 943         }
 944
 945         public void set_state(int state) {
 946                 if (state != AltosLib.ao_flight_invalid) {
 947                         this.state = state;
 948                         ascent = (AltosLib.ao_flight_boost <= state &&
 949                                   state <= AltosLib.ao_flight_coast);
 950                         boost = (AltosLib.ao_flight_boost == state);
 951                 }
 952         }
 953
 954         public void set_device_type(int device_type) {
 955                 this.device_type = device_type;
 956                 switch (device_type) {
 957                 case AltosLib.product_telegps:
 958                         this.state = AltosLib.ao_flight_stateless;
 959                         break;
 960                 }
 961         }
 962
 963         public void set_log_format(int log_format) {
 964                 this.log_format = log_format;
 965                 switch (log_format) {
 966                 case AltosLib.AO_LOG_FORMAT_TELEGPS:
 967                         this.state = AltosLib.ao_flight_stateless;
 968                         break;
 969                 }
 970         }
 971
 972         public void set_flight_params(int apogee_delay, int main_deploy) {
 973                 this.apogee_delay = apogee_delay;
 974                 this.main_deploy = main_deploy;
 975         }
 976
 977         public void set_config(int major, int minor, int flight_log_max) {
 978                 config_major = major;
 979                 config_minor = minor;
 980                 this.flight_log_max = flight_log_max;
 981         }
 982
 983         public void set_callsign(String callsign) {
 984                 this.callsign = callsign;
 985         }
 986
 987         public void set_firmware_version(String version) {
 988                 firmware_version = version;
 989         }
 990
 991         public void set_flight(int flight) {
 992
 993                 /* When the flight changes, reset the state */
 994                 if (flight != AltosLib.MISSING && flight != 0) {
 995                         if (this.flight != AltosLib.MISSING &&
 996                             this.flight != flight) {
 997                                 int bt = boost_tick;
 998                                 init();
 999                                 boost_tick = bt;
1000                         }
1001                         this.flight = flight;
1002                 }
1003         }
1004
1005         public void set_serial(int serial) {
1006                 /* When the serial changes, reset the state */
1007                 if (serial != AltosLib.MISSING) {
1008                         if (this.serial != AltosLib.MISSING &&
1009                             this.serial != serial) {
1010                                 int bt = boost_tick;
1011                                 init();
1012                                 boost_tick = bt;
1013                         }
1014                         this.serial = serial;
1015                 }
1016         }
1017
1018         public void set_receiver_serial(int serial) {
1019                 if (serial != AltosLib.MISSING)
1020                         receiver_serial = serial;
1021         }
1022
1023         public int rssi() {
1024                 if (rssi == AltosLib.MISSING)
1025                         return 0;
1026                 return rssi;
1027         }
1028
1029         public void set_rssi(int rssi, int status) {
1030                 if (rssi != AltosLib.MISSING) {
1031                         this.rssi = rssi;
1032                         this.status = status;
1033                 }
1034         }
1035
1036         public void set_received_time(long ms) {
1037                 received_time = ms;
1038         }
1039
1040         public void set_gps(AltosGPS gps, int sequence) {
1041                 if (gps != null) {
1042                         this.gps = gps.clone();
1043                         gps_sequence = sequence;
1044                         update_gps();
1045                         set |= set_gps;
1046                 }
1047         }
1048
1049         public void set_imu(AltosIMU imu) {
1050                 if (imu != null)
1051                         imu = imu.clone();
1052                 this.imu = imu;
1053         }
1054
1055         public void set_mag(AltosMag mag) {
1056                 this.mag = mag.clone();
1057         }
1058
1059         public AltosMs5607 make_baro() {
1060                 if (baro == null)
1061                         baro = new AltosMs5607();
1062                 return baro;
1063         }
1064
1065         public void set_ms5607(AltosMs5607 ms5607) {
1066                 baro = ms5607;
1067
1068                 if (baro != null) {
1069                         set_pressure(baro.pa);
1070                         set_temperature(baro.cc / 100.0);
1071                 }
1072         }
1073
1074         public void set_ms5607(int pres, int temp) {
1075                 if (baro != null) {
1076                         baro.set(pres, temp);
1077
1078                         set_pressure(baro.pa);
1079                         set_temperature(baro.cc / 100.0);
1080                 }
1081         }
1082
1083         public void make_companion (int nchannels) {
1084                 if (companion == null)
1085                         companion = new AltosCompanion(nchannels);
1086         }
1087
1088         public void set_companion(AltosCompanion companion) {
1089                 this.companion = companion;
1090         }
1091
1092         void update_accel() {
1093                 if (accel == AltosLib.MISSING)
1094                         return;
1095                 if (accel_plus_g == AltosLib.MISSING)
1096                         return;
1097                 if (accel_minus_g == AltosLib.MISSING)
1098                         return;
1099
1100                 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
1101                 double counts_per_mss = counts_per_g / 9.80665;
1102                 acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
1103         }
1104
1105         public void set_accel_g(double accel_plus_g, double accel_minus_g) {
1106                 if (accel_plus_g != AltosLib.MISSING) {
1107                         this.accel_plus_g = accel_plus_g;
1108                         this.accel_minus_g = accel_minus_g;
1109                         update_accel();
1110                 }
1111         }
1112
1113         public void set_ground_accel(double ground_accel) {
1114                 if (ground_accel != AltosLib.MISSING)
1115                         this.ground_accel = ground_accel;
1116         }
1117
1118         public void set_accel(double accel) {
1119                 if (accel != AltosLib.MISSING) {
1120                         this.accel = accel;
1121                         if (state == AltosLib.ao_flight_pad) {
1122                                 if (ground_accel_avg == AltosLib.MISSING)
1123                                         ground_accel_avg = accel;
1124                                 else
1125                                         ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
1126                         }
1127                 }
1128                 update_accel();
1129         }
1130
1131         public void set_temperature(double temperature) {
1132                 if (temperature != AltosLib.MISSING) {
1133                         this.temperature = temperature;
1134                         set |= set_data;
1135                 }
1136         }
1137
1138         public void set_battery_voltage(double battery_voltage) {
1139                 if (battery_voltage != AltosLib.MISSING) {
1140                         this.battery_voltage = battery_voltage;
1141                         set |= set_data;
1142                 }
1143         }
1144
1145         public void set_pyro_voltage(double pyro_voltage) {
1146                 if (pyro_voltage != AltosLib.MISSING) {
1147                         this.pyro_voltage = pyro_voltage;
1148                         set |= set_data;
1149                 }
1150         }
1151
1152         public void set_apogee_voltage(double apogee_voltage) {
1153                 if (apogee_voltage != AltosLib.MISSING) {
1154                         this.apogee_voltage = apogee_voltage;
1155                         set |= set_data;
1156                 }
1157         }
1158
1159         public void set_main_voltage(double main_voltage) {
1160                 if (main_voltage != AltosLib.MISSING) {
1161                         this.main_voltage = main_voltage;
1162                         set |= set_data;
1163                 }
1164         }
1165
1166         public void set_ignitor_voltage(double[] voltage) {
1167                 this.ignitor_voltage = voltage;
1168         }
1169
1170         public void set_pyro_fired(int fired) {
1171                 this.pyro_fired = fired;
1172         }
1173
1174         public double time_since_boost() {
1175                 if (tick == AltosLib.MISSING)
1176                         return 0.0;
1177
1178                 if (boost_tick == AltosLib.MISSING)
1179                         return tick / 100.0;
1180                 return (tick - boost_tick) / 100.0;
1181         }
1182
1183         public boolean valid() {
1184                 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1185         }
1186
1187         public AltosGPS make_temp_gps(boolean sats) {
1188                 if (temp_gps == null) {
1189                         temp_gps = new AltosGPS(gps);
1190                 }
1191                 gps_pending = true;
1192                 if (sats) {
1193                         if (tick != temp_gps_sat_tick)
1194                                 temp_gps.cc_gps_sat = null;
1195                         temp_gps_sat_tick = tick;
1196                 }
1197                 return temp_gps;
1198         }
1199
1200         public void set_temp_gps() {
1201                 set_gps(temp_gps, gps_sequence + 1);
1202                 gps_pending = false;
1203                 temp_gps = null;
1204         }
1205
1206         public AltosState clone() {
1207                 AltosState s = new AltosState();
1208                 s.copy(this);
1209                 return s;
1210         }
1211
1212         public AltosState () {
1213                 init();
1214         }
1215 }