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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         int     npad;
  60         int     prev_npad;
  61
  62         AltosGreatCircle from_pad;
  63
  64         double  gps_height;
  65
  66         int     speak_tick;
  67         double  speak_altitude;
  68
  69
  70         void init (AltosTelemetry cur, AltosState prev_state) {
  71                 int             i;
  72                 AltosTelemetry prev;
  73                 double  accel_counts_per_mss;
  74
  75                 data = cur;
  76
  77                 ground_altitude = AltosConvert.cc_barometer_to_altitude(data.ground_pres);
  78                 height = AltosConvert.cc_barometer_to_altitude(data.flight_pres) - ground_altitude;
  79
  80                 report_time = System.currentTimeMillis();
  81
  82                 accel_counts_per_mss = ((data.accel_minus_g - data.accel_plus_g) / 2.0) / 9.80665;
  83                 acceleration = (data.ground_accel - data.flight_accel) / accel_counts_per_mss;
  84                 speed = data.flight_vel / (accel_counts_per_mss * 100.0);
  85                 temperature = AltosConvert.cc_thermometer_to_temperature(data.temp);
  86                 drogue_sense = AltosConvert.cc_ignitor_to_voltage(data.drogue);
  87                 main_sense = AltosConvert.cc_ignitor_to_voltage(data.main);
  88                 battery = AltosConvert.cc_battery_to_voltage(data.batt);
  89                 tick = data.tick;
  90                 state = data.state();
  91
  92                 if (prev_state != null) {
  93
  94                         /* Preserve any existing gps data */
  95                         npad = prev_state.npad;
  96                         gps = prev_state.gps;
  97                         pad_lat = prev_state.pad_lat;
  98                         pad_lon = prev_state.pad_lon;
  99                         pad_alt = prev_state.pad_alt;
 100                         max_height = prev_state.max_height;
 101                         max_acceleration = prev_state.max_acceleration;
 102                         max_speed = prev_state.max_speed;
 103
 104                         /* make sure the clock is monotonic */
 105                         while (tick < prev_state.tick)
 106                                 tick += 65536;
 107
 108                         time_change = (tick - prev_state.tick) / 100.0;
 109
 110                         /* compute barometric speed */
 111
 112                         double height_change = height - prev_state.height;
 113                         if (time_change > 0)
 114                                 baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
 115                         else
 116                                 baro_speed = prev_state.baro_speed;
 117                 } else {
 118                         npad = 0;
 119                         gps = null;
 120                         baro_speed = 0;
 121                         time_change = 0;
 122                 }
 123
 124                 if (state == AltosTelemetry.ao_flight_pad) {
 125                         if (data.gps != null && data.gps.gps_locked && data.gps.nsat >= 4) {
 126                                 npad++;
 127                                 if (npad > 1) {
 128                                         /* filter pad position */
 129                                         pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
 130                                         pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
 131                                         pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
 132                                 } else {
 133                                         pad_lat = data.gps.lat;
 134                                         pad_lon = data.gps.lon;
 135                                         pad_alt = data.gps.alt;
 136                                 }
 137                         }
 138                 }
 139                 ascent = (AltosTelemetry.ao_flight_boost <= state &&
 140                           state <= AltosTelemetry.ao_flight_coast);
 141
 142                 /* Only look at accelerometer data on the way up */
 143                 if (ascent && acceleration > max_acceleration)
 144                         max_acceleration = acceleration;
 145                 if (ascent && speed > max_speed)
 146                         max_speed = speed;
 147
 148                 if (height > max_height)
 149                         max_height = height;
 150                 if (data.gps != null) {
 151                         if (gps == null || !gps.gps_locked || data.gps.gps_locked)
 152                                 gps = data.gps;
 153                         if (npad > 0 && gps.gps_locked)
 154                                 from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
 155                 }
 156                 if (npad > 0) {
 157                         gps_height = gps.alt - pad_alt;
 158                 } else {
 159                         gps_height = 0;
 160                 }
 161         }
 162
 163         public AltosState(AltosTelemetry cur) {
 164                 init(cur, null);
 165         }
 166
 167         public AltosState (AltosTelemetry cur, AltosState prev) {
 168                 init(cur, prev);
 169         }
 170 }