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; 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
  22 public class AltosTelemetrySensor extends AltosTelemetryStandard {
  23         int     state() { return uint8(5); }
  24         int     accel() { return int16(6); }
  25         int     pres() { return int16(8); }
  26         int     temp() { return int16(10); }
  27         int     v_batt() { return int16(12); }
  28         int     sense_d() { return int16(14); }
  29         int     sense_m() { return int16(16); }
  30
  31         int     acceleration() { return int16(18); }
  32         int     speed() { return int16(20); }
  33         int     height_16() { return int16(22); }
  34
  35         int     ground_accel() { return int16(24); }
  36         int     ground_pres() { return int16(26); }
  37         int     accel_plus_g() { return int16(28); }
  38         int     accel_minus_g() { return int16(30); }
  39
  40         public AltosTelemetrySensor(int[] bytes) throws AltosCRCException {
  41                 super(bytes);
  42         }
  43
  44         public void update_state(AltosState state) {
  45                 super.update_state(state);
  46
  47                 state.set_state(state());
  48                 if (type() == packet_type_TM_sensor) {
  49                         state.set_ground_accel(ground_accel());
  50                         state.set_accel_g(accel_plus_g(), accel_minus_g());
  51                         state.set_accel(accel());
  52                 }
  53                 state.set_ground_pressure(AltosConvert.barometer_to_pressure(ground_pres()));
  54                 state.set_pressure(AltosConvert.barometer_to_pressure(pres()));
  55                 state.set_temperature(AltosConvert.thermometer_to_temperature(temp()));
  56                 state.set_battery_voltage(AltosConvert.cc_battery_to_voltage(v_batt()));
  57                 if (type() == packet_type_TM_sensor || type() == packet_type_Tm_sensor) {
  58                         state.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(sense_d()));
  59                         state.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(sense_m()));
  60                 }
  61
  62                 state.set_kalman(height_16(), speed()/16.0, acceleration()/16.0);
  63         }
  64 }