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