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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  ground_altitude;
  39         double  height;
  40         double  speed;
  41         double  acceleration;
  42         double  battery;
  43         double  temperature;
  44         double  main_sense;
  45         double  drogue_sense;
  46         double  baro_speed;
  47
  48         double  max_height;
  49         double  max_acceleration;
  50         double  max_speed;
  51
  52         AltosGPS        gps;
  53         AltosGPSTracking        gps_tracking;
  54
  55         boolean gps_valid;
  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         public AltosState (AltosTelemetry cur, AltosTelemetry prev, int prev_npad) {
  79                 int     i;
  80                 double  new_height;
  81                 double  height_change;
  82                 double  time_change;
  83                 double  accel_counts_per_mss;
  84                 int     tick_count;
  85
  86                 data = cur;
  87                 prev_data = prev;
  88                 npad = prev_npad;
  89                 tick_count = data.tick;
  90                 if (tick_count < prev_data.tick)
  91                         tick_count += 65536;
  92                 time_change = (tick_count - prev_data.tick) / 100.0;
  93
  94                 report_time = aoview_time();
  95
  96                 ground_altitude = AltosConvert.cc_pressure_to_altitude(data.ground_pres);
  97                 new_height = AltosConvert.cc_pressure_to_altitude(data.flight_pres) - ground_altitude;
  98                 height_change = new_height - height;
  99                 height = new_height;
 100                 if (time_change > 0)
 101                         baro_speed = (baro_speed * 3 + (height_change / time_change)) / 4.0;
 102                 accel_counts_per_mss = ((data.accel_minus_g - data.accel_plus_g) / 2.0) / 9.80665;
 103                 acceleration = (data.ground_accel - data.flight_accel) / accel_counts_per_mss;
 104                 speed = data.flight_vel / (accel_counts_per_mss * 100.0);
 105                 temperature = AltosConvert.cc_thermometer_to_temperature(data.temp);
 106                 drogue_sense = AltosConvert.cc_ignitor_to_voltage(data.drogue);
 107                 main_sense = AltosConvert.cc_ignitor_to_voltage(data.main);
 108                 battery = AltosConvert.cc_battery_to_voltage(data.batt);
 109                 state = data.state();
 110                 if (state == AltosTelemetry.ao_flight_pad) {
 111                         if (data.gps.gps_locked && data.gps.nsat >= 4) {
 112                                 npad++;
 113                                 pad_lat_total += data.gps.lat;
 114                                 pad_lon_total += data.gps.lon;
 115                                 pad_alt_total += data.gps.alt;
 116                                 if (npad > 1) {
 117                                         pad_lat = (pad_lat * 31 + data.gps.lat) / 32.0;
 118                                         pad_lon = (pad_lon * 31 + data.gps.lon) / 32.0;
 119                                         pad_alt = (pad_alt * 31 + data.gps.alt) / 32.0;
 120                                 } else {
 121                                         pad_lat = data.gps.lat;
 122                                         pad_lon = data.gps.lon;
 123                                         pad_alt = data.gps.alt;
 124                                 }
 125                         }
 126                 }
 127                 ascent = (AltosTelemetry.ao_flight_boost <= state &&
 128                           state <= AltosTelemetry.ao_flight_coast);
 129
 130                 /* Only look at accelerometer data on the way up */
 131                 if (ascent && acceleration > max_acceleration)
 132                         max_acceleration = acceleration;
 133                 if (ascent && speed > max_speed)
 134                         max_speed = speed;
 135
 136                 if (height > max_height)
 137                         max_height = height;
 138                 gps.gps_locked = data.gps.gps_locked;
 139                 gps.gps_connected = data.gps.gps_connected;
 140                 if (data.gps.gps_locked) {
 141                         gps = data.gps;
 142                         gps_valid = true;
 143                         if (npad > 0)
 144                                 from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
 145                 }
 146                 if (npad > 0) {
 147                         gps_height = gps.alt - pad_alt;
 148                 } else {
 149                         gps_height = 0;
 150                 }
 151         }
 152
 153         public AltosState(AltosTelemetry cur) {
 154                 this(cur, cur, 0);
 155         }
 156
 157         public AltosState (AltosTelemetry cur, AltosState prev) {
 158                 this(cur, prev.data, prev.npad);
 159                 if (gps == null) {
 160                         gps = prev.gps;
 161                         gps_valid = prev.gps_valid;
 162                 }
 163                 if (gps_tracking == null)
 164                         gps_tracking = prev.gps_tracking;
 165         }
 166 }