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   1 /*
   2  * Copyright © 2011 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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 package org.altusmetrum.altoslib_11;
  20
  21 public class AltosTelemetryMegaData extends AltosTelemetryStandard {
  22         int     state;
  23
  24         int     v_batt;
  25         int     v_pyro;
  26         int     sense[];
  27
  28         int     ground_pres;
  29         int     ground_accel;
  30         int     accel_plus_g;
  31         int     accel_minus_g;
  32
  33         int     acceleration;
  34         int     speed;
  35         int     height_16;
  36
  37         public AltosTelemetryMegaData(int[] bytes) {
  38                 super(bytes);
  39
  40                 state = uint8(5);
  41
  42                 v_batt = int16(6);
  43                 v_pyro = int16(8);
  44
  45                 sense = new int[6];
  46
  47                 for (int i = 0; i < 6; i++) {
  48                         sense[i] = uint8(10 + i) << 4;
  49                         sense[i] |= sense[i] >> 8;
  50                 }
  51
  52                 ground_pres = int32(16);
  53                 ground_accel = int16(20);
  54                 accel_plus_g = int16(22);
  55                 accel_minus_g = int16(24);
  56
  57                 acceleration = int16(26);
  58                 speed = int16(28);
  59
  60                 height_16 = int16(30);
  61         }
  62
  63         public void update_state(AltosState state) {
  64                 super.update_state(state);
  65
  66                 state.set_state(this.state);
  67
  68                 state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt));
  69                 state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pyro));
  70
  71                 state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense[4]));
  72                 state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense[5]));
  73
  74                 double voltages[] = new double[4];
  75                 for (int i = 0; i < 4; i++)
  76                         voltages[i] = AltosConvert.mega_pyro_voltage(sense[i]);
  77
  78                 state.set_ignitor_voltage(voltages);
  79
  80                 state.set_ground_accel(ground_accel);
  81                 state.set_ground_pressure(ground_pres);
  82                 state.set_accel_g(accel_plus_g, accel_minus_g);
  83
  84                 /* Fill in the high bits of height from recent GPS
  85                  * data if available, otherwise guess using the
  86                  * previous kalman height
  87                  */
  88
  89                 state.set_kalman(extend_height(state, height_16),
  90                                  speed/16.0, acceleration / 16.0);
  91         }
  92 }
  93