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