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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 data stream
  20  */
  21
  22 package altosui;
  23
  24 import altosui.AltosTelemetry;
  25 import altosui.AltosGPS;
  26
  27 public class AltosState {
  28         AltosTelemetry data;
  29
  30         /* derived data */
  31
  32         long    report_time;
  33
  34         double  time_change;
  35         int     tick;
  36
  37         int     state;
  38         boolean ascent; /* going up? */
  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
  54         AltosGPS        gps;
  55
  56         double  pad_lat;
  57         double  pad_lon;
  58         double  pad_alt;
  59
  60         static final int MIN_PAD_SAMPLES = 10;
  61
  62         int     npad;
  63         int     gps_waiting;
  64         boolean gps_ready;
  65
  66         AltosGreatCircle from_pad;
  67
  68         double  gps_height;
  69
  70         int     speak_tick;
  71         double  speak_altitude;
  72
  73
  74         void init (AltosTelemetry cur, AltosState prev_state) {
  75                 int             i;
  76                 AltosTelemetry prev;
  77                 double  accel_counts_per_mss;
  78
  79                 data = cur;
  80
  81                 ground_altitude = AltosConvert.cc_barometer_to_altitude(data.ground_pres);
  82                 height = AltosConvert.cc_barometer_to_altitude(data.flight_pres) - ground_altitude;
  83
  84                 report_time = System.currentTimeMillis();
  85
  86                 accel_counts_per_mss = ((data.accel_minus_g - data.accel_plus_g) / 2.0) / 9.80665;
  87                 acceleration = (data.ground_accel - data.flight_accel) / accel_counts_per_mss;
  88                 speed = data.flight_vel / (accel_counts_per_mss * 100.0);
  89                 temperature = AltosConvert.cc_thermometer_to_temperature(data.temp);
  90                 drogue_sense = AltosConvert.cc_ignitor_to_voltage(data.drogue);
  91                 main_sense = AltosConvert.cc_ignitor_to_voltage(data.main);
  92                 battery = AltosConvert.cc_battery_to_voltage(data.batt);
  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                         gps = prev_state.gps;
 101                         pad_lat = prev_state.pad_lat;
 102                         pad_lon = prev_state.pad_lon;
 103                         pad_alt = prev_state.pad_alt;
 104                         max_height = prev_state.max_height;
 105                         max_acceleration = prev_state.max_acceleration;
 106                         max_speed = prev_state.max_speed;
 107
 108                         /* make sure the clock is monotonic */
 109                         while (tick < prev_state.tick)
 110                                 tick += 65536;
 111
 112                         time_change = (tick - prev_state.tick) / 100.0;
 113
 114                         /* compute barometric speed */
 115
 116                         double height_change = height - prev_state.height;
 117                         if (time_change > 0)
 118                                 baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
 119                         else
 120                                 baro_speed = prev_state.baro_speed;
 121                 } else {
 122                         npad = 0;
 123                         gps = null;
 124                         baro_speed = 0;
 125                         time_change = 0;
 126                 }
 127
 128                 if (state == AltosTelemetry.ao_flight_pad) {
 129                         if (data.gps != null && data.gps.gps_locked && data.gps.nsat >= 4) {
 130                                 npad++;
 131                                 if (npad > 1) {
 132                                         /* filter pad position */
 133                                         pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
 134                                         pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
 135                                         pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
 136                                 } else {
 137                                         pad_lat = data.gps.lat;
 138                                         pad_lon = data.gps.lon;
 139                                         pad_alt = data.gps.alt;
 140                                 }
 141                         } else {
 142                                 npad = 0;
 143                         }
 144                 }
 145
 146                 gps_waiting = MIN_PAD_SAMPLES - npad;
 147                 if (gps_waiting < 0)
 148                         gps_waiting = 0;
 149
 150                 gps_ready = gps_waiting == 0;
 151
 152                 ascent = (AltosTelemetry.ao_flight_boost <= state &&
 153                           state <= AltosTelemetry.ao_flight_coast);
 154
 155                 /* Only look at accelerometer data on the way up */
 156                 if (ascent && acceleration > max_acceleration)
 157                         max_acceleration = acceleration;
 158                 if (ascent && speed > max_speed)
 159                         max_speed = speed;
 160
 161                 if (height > max_height)
 162                         max_height = height;
 163                 if (data.gps != null) {
 164                         if (gps == null || !gps.gps_locked || data.gps.gps_locked)
 165                                 gps = data.gps;
 166                         if (npad > 0 && gps.gps_locked)
 167                                 from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
 168                 }
 169                 if (npad > 0) {
 170                         gps_height = gps.alt - pad_alt;
 171                 } else {
 172                         gps_height = 0;
 173                 }
 174         }
 175
 176         public AltosState(AltosTelemetry cur) {
 177                 init(cur, null);
 178         }
 179
 180         public AltosState (AltosTelemetry cur, AltosState prev) {
 181                 init(cur, prev);
 182         }
 183 }