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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; 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 package org.altusmetrum.altoslib_5;
  19
  20 public class AltosTelemetryMegaData extends AltosTelemetryStandard {
  21         int     state;
  22
  23         int     v_batt;
  24         int     v_pyro;
  25         int     sense[];
  26
  27         int     ground_pres;
  28         int     ground_accel;
  29         int     accel_plus_g;
  30         int     accel_minus_g;
  31
  32         int     acceleration;
  33         int     speed;
  34         int     height_16;
  35
  36         public AltosTelemetryMegaData(int[] bytes) {
  37                 super(bytes);
  38
  39                 state = uint8(5);
  40
  41                 v_batt = int16(6);
  42                 v_pyro = int16(8);
  43
  44                 sense = new int[6];
  45
  46                 for (int i = 0; i < 6; i++) {
  47                         sense[i] = uint8(10 + i) << 4;
  48                         sense[i] |= sense[i] >> 8;
  49                 }
  50
  51                 ground_pres = int32(16);
  52                 ground_accel = int16(20);
  53                 accel_plus_g = int16(22);
  54                 accel_minus_g = int16(24);
  55
  56                 acceleration = int16(26);
  57                 speed = int16(28);
  58
  59                 height_16 = int16(30);
  60         }
  61
  62         public void update_state(AltosState state) {
  63                 super.update_state(state);
  64
  65                 state.set_state(this.state);
  66
  67                 state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt));
  68                 state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pyro));
  69
  70                 state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense[4]));
  71                 state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense[5]));
  72
  73                 double voltages[] = new double[4];
  74                 for (int i = 0; i < 4; i++)
  75                         voltages[i] = AltosConvert.mega_pyro_voltage(sense[i]);
  76
  77                 state.set_ignitor_voltage(voltages);
  78
  79                 state.set_ground_accel(ground_accel);
  80                 state.set_ground_pressure(ground_pres);
  81                 state.set_accel_g(accel_plus_g, accel_minus_g);
  82
  83                 /* Fill in the high bits of height from recent GPS
  84                  * data if available, otherwise guess using the
  85                  * previous kalman height
  86                  */
  87
  88                 state.set_kalman(extend_height(state, height_16),
  89                                  speed/16.0, acceleration / 16.0);
  90         }
  91 }
  92