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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         AltosTelemetry prev_data;
  30
  31         /* derived data */
  32
  33         double  report_time;
  34
  35         int     state;
  36         boolean ascent; /* going up? */
  37
  38         double  time_change;
  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         double  pad_lat_total;
  60         double  pad_lon_total;
  61         double  pad_alt_total;
  62         int     npad;
  63         int     prev_npad;
  64
  65         AltosGreatCircle from_pad;
  66
  67         double  gps_height;
  68
  69         int     speak_tick;
  70         double  speak_altitude;
  71
  72         static double
  73         aoview_time()
  74         {
  75                 return System.currentTimeMillis() / 1000.0;
  76         }
  77
  78         void init (AltosTelemetry cur, AltosTelemetry prev, int prev_npad) {
  79                 int     i;
  80                 double  new_height;
  81                 double  height_change;
  82                 double  accel_counts_per_mss;
  83                 int     tick_count;
  84
  85                 data = cur;
  86                 prev_data = prev;
  87                 npad = prev_npad;
  88                 tick_count = data.tick;
  89                 if (tick_count < prev_data.tick)
  90                         tick_count += 65536;
  91                 time_change = (tick_count - prev_data.tick) / 100.0;
  92
  93                 report_time = aoview_time();
  94
  95                 ground_altitude = AltosConvert.cc_pressure_to_altitude(data.ground_pres);
  96                 new_height = AltosConvert.cc_pressure_to_altitude(data.flight_pres) - ground_altitude;
  97                 height_change = new_height - height;
  98                 height = new_height;
  99                 if (time_change > 0)
 100                         baro_speed = (baro_speed * 3 + (height_change / time_change)) / 4.0;
 101                 accel_counts_per_mss = ((data.accel_minus_g - data.accel_plus_g) / 2.0) / 9.80665;
 102                 acceleration = (data.ground_accel - data.flight_accel) / accel_counts_per_mss;
 103                 speed = data.flight_vel / (accel_counts_per_mss * 100.0);
 104                 temperature = AltosConvert.cc_thermometer_to_temperature(data.temp);
 105                 drogue_sense = AltosConvert.cc_ignitor_to_voltage(data.drogue);
 106                 main_sense = AltosConvert.cc_ignitor_to_voltage(data.main);
 107                 battery = AltosConvert.cc_battery_to_voltage(data.batt);
 108                 state = data.state();
 109                 if (state == AltosTelemetry.ao_flight_pad) {
 110                         if (data.gps != null && data.gps.gps_locked && data.gps.nsat >= 4) {
 111                                 npad++;
 112                                 pad_lat_total += data.gps.lat;
 113                                 pad_lon_total += data.gps.lon;
 114                                 pad_alt_total += data.gps.alt;
 115                                 if (npad > 1) {
 116                                         pad_lat = (pad_lat * 31 + data.gps.lat) / 32.0;
 117                                         pad_lon = (pad_lon * 31 + data.gps.lon) / 32.0;
 118                                         pad_alt = (pad_alt * 31 + data.gps.alt) / 32.0;
 119                                 } else {
 120                                         pad_lat = data.gps.lat;
 121                                         pad_lon = data.gps.lon;
 122                                         pad_alt = data.gps.alt;
 123                                 }
 124                         }
 125                 }
 126                 ascent = (AltosTelemetry.ao_flight_boost <= state &&
 127                           state <= AltosTelemetry.ao_flight_coast);
 128
 129                 /* Only look at accelerometer data on the way up */
 130                 if (ascent && acceleration > max_acceleration)
 131                         max_acceleration = acceleration;
 132                 if (ascent && speed > max_speed)
 133                         max_speed = speed;
 134
 135                 if (height > max_height)
 136                         max_height = height;
 137                 if (data.gps != null) {
 138                         gps = data.gps;
 139                         if (npad > 0 && gps.gps_locked)
 140                                 from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
 141                 }
 142                 if (npad > 0) {
 143                         gps_height = gps.alt - pad_alt;
 144                 } else {
 145                         gps_height = 0;
 146                 }
 147         }
 148
 149         public AltosState(AltosTelemetry cur) {
 150                 init(cur, cur, 0);
 151         }
 152
 153         public AltosState (AltosTelemetry cur, AltosState prev) {
 154                 if (prev == null)
 155                         init(cur, cur, 0);
 156                 else {
 157                         init(cur, prev.data, prev.npad);
 158                         if (gps == null)
 159                                 gps = prev.gps;
 160                 }
 161         }
 162 }