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   1 /*
   2  * Copyright © 2010 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 /*
  19  * Track flight state from telemetry or eeprom data stream
  20  */
  21
  22 package altosui;
  23
  24 import org.altusmetrum.AltosLib.*;
  25
  26 public class AltosState {
  27         AltosRecord data;
  28
  29         /* derived data */
  30
  31         long    report_time;
  32
  33         double  time;
  34         double  time_change;
  35         int     tick;
  36
  37         int     state;
  38         boolean landed;
  39         boolean ascent; /* going up? */
  40         boolean boost;  /* under power */
  41
  42         double  ground_altitude;
  43         double  height;
  44         double  speed;
  45         double  acceleration;
  46         double  battery;
  47         double  temperature;
  48         double  main_sense;
  49         double  drogue_sense;
  50         double  baro_speed;
  51
  52         double  max_height;
  53         double  max_acceleration;
  54         double  max_speed;
  55         double  max_baro_speed;
  56
  57         AltosGPS        gps;
  58
  59         AltosIMU        imu;
  60         AltosMag        mag;
  61
  62         double  pad_lat;
  63         double  pad_lon;
  64         double  pad_alt;
  65
  66         static final int MIN_PAD_SAMPLES = 10;
  67
  68         int     npad;
  69         int     ngps;
  70         int     gps_waiting;
  71         boolean gps_ready;
  72
  73         AltosGreatCircle from_pad;
  74         double  elevation;      /* from pad */
  75         double  range;          /* total distance */
  76
  77         double  gps_height;
  78
  79         int     speak_tick;
  80         double  speak_altitude;
  81
  82         void init (AltosRecord cur, AltosState prev_state) {
  83                 int             i;
  84                 AltosRecord prev;
  85
  86                 data = cur;
  87
  88                 ground_altitude = data.ground_altitude();
  89                 height = data.filtered_height();
  90
  91                 report_time = System.currentTimeMillis();
  92
  93                 acceleration = data.acceleration();
  94                 speed = data.accel_speed();
  95                 temperature = data.temperature();
  96                 drogue_sense = data.drogue_voltage();
  97                 main_sense = data.main_voltage();
  98                 battery = data.battery_voltage();
  99                 tick = data.tick;
 100                 state = data.state;
 101
 102                 if (prev_state != null) {
 103
 104                         /* Preserve any existing gps data */
 105                         npad = prev_state.npad;
 106                         ngps = prev_state.ngps;
 107                         gps = prev_state.gps;
 108                         pad_lat = prev_state.pad_lat;
 109                         pad_lon = prev_state.pad_lon;
 110                         pad_alt = prev_state.pad_alt;
 111                         max_height = prev_state.max_height;
 112                         max_acceleration = prev_state.max_acceleration;
 113                         max_speed = prev_state.max_speed;
 114                         max_baro_speed = prev_state.max_baro_speed;
 115                         imu = prev_state.imu;
 116                         mag = prev_state.mag;
 117
 118                         /* make sure the clock is monotonic */
 119                         while (tick < prev_state.tick)
 120                                 tick += 65536;
 121
 122                         time_change = (tick - prev_state.tick) / 100.0;
 123
 124                         /* compute barometric speed */
 125
 126                         double height_change = height - prev_state.height;
 127                         if (data.speed != AltosRecord.MISSING)
 128                                 baro_speed = data.speed;
 129                         else {
 130                                 if (time_change > 0)
 131                                         baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
 132                                 else
 133                                         baro_speed = prev_state.baro_speed;
 134                         }
 135                 } else {
 136                         npad = 0;
 137                         ngps = 0;
 138                         gps = null;
 139                         baro_speed = 0;
 140                         time_change = 0;
 141                 }
 142
 143                 time = tick / 100.0;
 144
 145                 if (cur.new_gps && (state == Altos.ao_flight_pad || state == Altos.ao_flight_idle)) {
 146
 147                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 148                         if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
 149                                 npad++;
 150                         else
 151                                 npad = 0;
 152
 153                         /* Average GPS data while on the pad */
 154                         if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
 155                                 if (ngps > 1) {
 156                                         /* filter pad position */
 157                                         pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
 158                                         pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
 159                                         pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
 160                                 } else {
 161                                         pad_lat = data.gps.lat;
 162                                         pad_lon = data.gps.lon;
 163                                         pad_alt = data.gps.alt;
 164                                 }
 165                                 ngps++;
 166                         }
 167                 }
 168
 169                 gps_waiting = MIN_PAD_SAMPLES - npad;
 170                 if (gps_waiting < 0)
 171                         gps_waiting = 0;
 172
 173                 gps_ready = gps_waiting == 0;
 174
 175                 ascent = (Altos.ao_flight_boost <= state &&
 176                           state <= Altos.ao_flight_coast);
 177                 boost = (Altos.ao_flight_boost == state);
 178
 179                 /* Only look at accelerometer data under boost */
 180                 if (boost && acceleration > max_acceleration)
 181                         max_acceleration = acceleration;
 182                 if (boost && speed > max_speed)
 183                         max_speed = speed;
 184                 if (boost && baro_speed > max_baro_speed)
 185                         max_baro_speed = baro_speed;
 186
 187                 if (height > max_height)
 188                         max_height = height;
 189                 if (data.gps != null) {
 190                         if (gps == null || !gps.locked || data.gps.locked)
 191                                 gps = data.gps;
 192                         if (ngps > 0 && gps.locked) {
 193                                 from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
 194                         }
 195                 }
 196                 elevation = 0;
 197                 range = -1;
 198                 if (ngps > 0) {
 199                         gps_height = gps.alt - pad_alt;
 200                         if (from_pad != null) {
 201                                 elevation = Math.atan2(height, from_pad.distance) * 180 / Math.PI;
 202                                 range = Math.sqrt(height * height + from_pad.distance * from_pad.distance);
 203                         }
 204                 } else {
 205                         gps_height = 0;
 206                 }
 207         }
 208
 209         public AltosState(AltosRecord cur) {
 210                 init(cur, null);
 211         }
 212
 213         public AltosState (AltosRecord cur, AltosState prev) {
 214                 init(cur, prev);
 215         }
 216 }