git.gag.com Git - fw/altos/blob - altoslib/AltosTelemetryRecordSensor.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_1;
  19
  20
  21 public class AltosTelemetryRecordSensor extends AltosTelemetryRecordRaw {
  22         int     state;
  23         int     accel;
  24         int     pres;
  25         int     temp;
  26         int     v_batt;
  27         int     sense_d;
  28         int     sense_m;
  29
  30         int     acceleration;
  31         int     speed;
  32         int     height;
  33
  34         int     ground_accel;
  35         int     ground_pres;
  36         int     accel_plus_g;
  37         int     accel_minus_g;
  38
  39         public AltosTelemetryRecordSensor(int[] in_bytes, int rssi) {
  40                 super(in_bytes, rssi);
  41                 state         = uint8(5);
  42
  43                 accel         = int16(6);
  44                 pres          = int16(8);
  45                 temp          = int16(10);
  46                 v_batt        = int16(12);
  47                 sense_d       = int16(14);
  48                 sense_m       = int16(16);
  49
  50                 acceleration  = int16(18);
  51                 speed         = int16(20);
  52                 height        = int16(22);
  53
  54                 ground_pres   = int16(24);
  55                 ground_accel  = int16(26);
  56                 accel_plus_g  = int16(28);
  57                 accel_minus_g = int16(30);
  58         }
  59
  60         public AltosRecord update_state(AltosRecord prev) {
  61                 AltosRecord     n = super.update_state(prev);
  62
  63                 AltosRecordTM   next;
  64                 if (!(n instanceof AltosRecordTM))
  65                         next = new AltosRecordTM(n);
  66                 else
  67                         next = (AltosRecordTM) n;
  68
  69                 next.state = state;
  70                 if (type == packet_type_TM_sensor)
  71                         next.accel = accel;
  72                 else
  73                         next.accel = AltosRecord.MISSING;
  74                 next.pres = pres;
  75                 next.temp = temp;
  76                 next.batt = v_batt;
  77                 if (type == packet_type_TM_sensor || type == packet_type_Tm_sensor) {
  78                         next.drogue = sense_d;
  79                         next.main = sense_m;
  80                 } else {
  81                         next.drogue = AltosRecord.MISSING;
  82                         next.main = AltosRecord.MISSING;
  83                 }
  84
  85                 next.kalman_acceleration = acceleration / 16.0;
  86                 next.kalman_speed = speed / 16.0;
  87                 next.kalman_height = height;
  88
  89                 next.ground_pres = ground_pres;
  90                 if (type == packet_type_TM_sensor) {
  91                         next.ground_accel = ground_accel;
  92                         next.accel_plus_g = accel_plus_g;
  93                         next.accel_minus_g = accel_minus_g;
  94                 } else {
  95                         next.ground_accel = AltosRecord.MISSING;
  96                         next.accel_plus_g = AltosRecord.MISSING;
  97                         next.accel_minus_g = AltosRecord.MISSING;
  98                 }
  99
 100                 next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;
 101
 102                 return next;
 103         }
 104 }