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

   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;
  19
  20
  21 public class AltosTelemetryRecordMegaData extends AltosTelemetryRecordRaw {
  22
  23         int     state;
  24
  25         int     v_batt;
  26         int     v_pyro;
  27         int     sense[];
  28
  29         int     ground_pres;
  30         int     ground_accel;
  31         int     accel_plus_g;
  32         int     accel_minus_g;
  33
  34         int     acceleration;
  35         int     speed;
  36         int     height;
  37
  38         public AltosTelemetryRecordMegaData(int[] in_bytes) {
  39                 super(in_bytes);
  40
  41                 state = int8(5);
  42
  43                 v_batt = int16(6);
  44                 v_pyro = int16(8);
  45
  46                 sense = new int[6];
  47
  48                 for (int i = 0; i < 6; i++) {
  49                         sense[i] = int8(10 + i) << 4;
  50                         sense[i] |= sense[i] >> 8;
  51                 }
  52
  53                 ground_pres = int32(16);
  54                 ground_accel = int16(20);
  55                 accel_plus_g = int16(22);
  56                 accel_minus_g = int16(24);
  57
  58                 acceleration = int16(26);
  59                 speed = int16(28);
  60                 height = int16(30);
  61         }
  62
  63         public AltosRecord update_state(AltosRecord previous) {
  64                 AltosRecord     n = super.update_state(previous);
  65
  66                 AltosRecordMM   next;
  67                 if (!(n instanceof AltosRecordMM)) {
  68                         next = new AltosRecordMM(n);
  69                 } else {
  70                         next = (AltosRecordMM) n;
  71                 }
  72
  73                 next.state = state;
  74
  75                 next.v_batt = v_batt;
  76                 next.v_pyro = v_pyro;
  77
  78                 for (int i = 0; i < 6; i++)
  79                         next.sense[i] = sense[i];
  80
  81                 next.ground_accel = ground_accel;
  82                 next.ground_pres = ground_pres;
  83                 next.accel_plus_g = accel_plus_g;
  84                 next.accel_minus_g = accel_minus_g;
  85
  86                 next.kalman_acceleration = acceleration / 16.0;
  87                 next.kalman_speed = speed / 16.0;
  88                 next.kalman_height = height;
  89
  90                 next.seen |= AltosRecord.seen_flight | AltosRecord.seen_temp_volt;
  91
  92                 return next;
  93         }
  94 }