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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 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 (AltosRecord cur, AltosState prev_state) {
  75                 int             i;
  76                 AltosRecord prev;
  77
  78                 data = cur;
  79
  80                 ground_altitude = data.ground_altitude();
  81                 height = data.altitude() - ground_altitude;
  82
  83                 report_time = System.currentTimeMillis();
  84
  85                 acceleration = data.acceleration();
  86                 speed = data.accel_speed();
  87                 temperature = data.temperature();
  88                 drogue_sense = data.drogue_voltage();
  89                 main_sense = data.main_voltage();
  90                 battery = data.battery_voltage();
  91                 tick = data.tick;
  92                 state = data.state;
  93
  94                 if (prev_state != null) {
  95
  96                         /* Preserve any existing gps data */
  97                         npad = prev_state.npad;
  98                         gps = prev_state.gps;
  99                         pad_lat = prev_state.pad_lat;
 100                         pad_lon = prev_state.pad_lon;
 101                         pad_alt = prev_state.pad_alt;
 102                         max_height = prev_state.max_height;
 103                         max_acceleration = prev_state.max_acceleration;
 104                         max_speed = prev_state.max_speed;
 105
 106                         /* make sure the clock is monotonic */
 107                         while (tick < prev_state.tick)
 108                                 tick += 65536;
 109
 110                         time_change = (tick - prev_state.tick) / 100.0;
 111
 112                         /* compute barometric speed */
 113
 114                         double height_change = height - prev_state.height;
 115                         if (time_change > 0)
 116                                 baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
 117                         else
 118                                 baro_speed = prev_state.baro_speed;
 119                 } else {
 120                         npad = 0;
 121                         gps = null;
 122                         baro_speed = 0;
 123                         time_change = 0;
 124                 }
 125
 126                 if (state == Altos.ao_flight_pad) {
 127                         if (data.gps == null)
 128                                 System.out.printf("on pad, gps null\n");
 129                         else
 130                                 System.out.printf ("on pad gps lat %f lon %f locked %d nsat %d\n",
 131                                                    data.gps.lat, data.gps.lon, data.gps.locked ? 1 : 0, data.gps.nsat);
 132                         if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
 133                                 npad++;
 134                                 if (npad > 1) {
 135                                         /* filter pad position */
 136                                         pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
 137                                         pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
 138                                         pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
 139                                 } else {
 140                                         pad_lat = data.gps.lat;
 141                                         pad_lon = data.gps.lon;
 142                                         pad_alt = data.gps.alt;
 143                                 }
 144                         } else {
 145                                 npad = 0;
 146                         }
 147                 }
 148
 149                 gps_waiting = MIN_PAD_SAMPLES - npad;
 150                 if (gps_waiting < 0)
 151                         gps_waiting = 0;
 152
 153                 gps_ready = gps_waiting == 0;
 154
 155                 ascent = (Altos.ao_flight_boost <= state &&
 156                           state <= Altos.ao_flight_coast);
 157
 158                 /* Only look at accelerometer data on the way up */
 159                 if (ascent && acceleration > max_acceleration)
 160                         max_acceleration = acceleration;
 161                 if (ascent && speed > max_speed)
 162                         max_speed = speed;
 163
 164                 if (height > max_height)
 165                         max_height = height;
 166                 if (data.gps != null) {
 167                         if (gps == null || !gps.locked || data.gps.locked)
 168                                 gps = data.gps;
 169                         if (npad > 0 && gps.locked)
 170                                 from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
 171                 }
 172                 if (npad > 0) {
 173                         gps_height = gps.alt - pad_alt;
 174                 } else {
 175                         gps_height = 0;
 176                 }
 177         }
 178
 179         public AltosState(AltosRecord cur) {
 180                 init(cur, null);
 181         }
 182
 183         public AltosState (AltosRecord cur, AltosState prev) {
 184                 init(cur, prev);
 185         }
 186 }