git.gag.com Git - fw/altos/blob - altoslib/AltosTelemetrySensor.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_6;
  19
  20
  21 public class AltosTelemetrySensor extends AltosTelemetryStandard {
  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 AltosTelemetrySensor(int[] bytes) {
  40                 super(bytes);
  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 void update_state(AltosState state) {
  61                 super.update_state(state);
  62
  63                 state.set_state(this.state);
  64                 if (type == packet_type_TM_sensor) {
  65                         state.set_ground_accel(ground_accel);
  66                         state.set_accel_g(accel_plus_g, accel_minus_g);
  67                         state.set_accel(accel);
  68                 }
  69                 state.set_ground_pressure(AltosConvert.barometer_to_pressure(ground_pres));
  70                 state.set_pressure(AltosConvert.barometer_to_pressure(pres));
  71                 state.set_temperature(AltosConvert.thermometer_to_temperature(temp));
  72                 state.set_battery_voltage(AltosConvert.cc_battery_to_voltage(v_batt));
  73                 if (type == packet_type_TM_sensor || type == packet_type_Tm_sensor) {
  74                         state.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(sense_d));
  75                         state.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(sense_m));
  76                 }
  77
  78                 state.set_kalman(height, speed/16.0, acceleration / 16.0);
  79         }
  80 }