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