/*
* Sensor data conversion functions
*/
-package org.altusmetrum.altoslib_11;
+package org.altusmetrum.altoslib_14;
import java.util.*;
public class AltosConvert {
+
+ public static final double gravity = 9.80665;
+
/*
* Pressure Sensor Model, version 1.1
*
* in Joules/(kilogram-Kelvin).
*/
- public static final double GRAVITATIONAL_ACCELERATION = -9.80665;
- public static final double AIR_GAS_CONSTANT = 287.053;
- public static final double NUMBER_OF_LAYERS = 7;
- public static final double MAXIMUM_ALTITUDE = 84852.0;
- public static final double MINIMUM_PRESSURE = 0.3734;
- public static final double LAYER0_BASE_TEMPERATURE = 288.15;
- public static final double LAYER0_BASE_PRESSURE = 101325;
+ private static final double GRAVITATIONAL_ACCELERATION = -gravity;
+ private static final double AIR_GAS_CONSTANT = 287.053;
+ private static final double MAXIMUM_ALTITUDE = 100000.0;
+ private static final double MINIMUM_PRESSURE = 0.023439;
+ private static final double LAYER0_BASE_TEMPERATURE = 288.15;
+ private static final double LAYER0_BASE_PRESSURE = 101325;
/* lapse rate and base altitude for each layer in the atmosphere */
- public static final double[] lapse_rate = {
- -0.0065, 0.0, 0.001, 0.0028, 0.0, -0.0028, -0.002
+ private static final double[] lapse_rate = {
+ -0.0065, 0.0, 0.001, 0.0028, 0.0, -0.0028, -0.002, 0,
};
- public static final int[] base_altitude = {
- 0, 11000, 20000, 32000, 47000, 51000, 71000
+ private static final double[] base_altitude = {
+ 0, 11000, 20000, 32000, 47000, 51000, 71000, 84852,
};
+ private static final int NUMBER_OF_LAYERS = base_altitude.length;
/* outputs atmospheric pressure associated with the given altitude.
* altitudes are measured with respect to the mean sea level
*/
double next_base_pressure = LAYER0_BASE_PRESSURE;
double altitude;
- double base_pressure;
- double base_temperature;
+ double base_pressure = 0;
+ double base_temperature = 0;
double base; /* base for function to determine base pressure of next layer */
double exponent; /* exponent for function to determine base pressure
of next layer */
double coefficient;
int layer_number; /* identifies layer in the atmosphere */
- int delta_z; /* difference between two altitudes */
+ double delta_z; /* difference between two altitudes */
- if (pressure < 0) /* illegal pressure */
- return -1;
if (pressure < MINIMUM_PRESSURE) /* FIX ME: use sensor data to improve model */
- return MAXIMUM_ALTITUDE;
+ pressure = MINIMUM_PRESSURE;
/* calculate the base temperature and pressure for the atmospheric layer
associated with the inputted pressure. */
- layer_number = -1;
- do {
- layer_number++;
+ for (layer_number = 0; layer_number < NUMBER_OF_LAYERS - 1; layer_number++) {
base_pressure = next_base_pressure;
base_temperature = next_base_temperature;
delta_z = base_altitude[layer_number + 1] - base_altitude[layer_number];
next_base_pressure *= Math.pow(base, exponent);
}
next_base_temperature += delta_z * lapse_rate[layer_number];
+ if (pressure >= next_base_pressure)
+ break;
}
- while(layer_number < NUMBER_OF_LAYERS - 1 && pressure < next_base_pressure);
/* calculate the altitude associated with the inputted pressure */
if (lapse_rate[layer_number] == 0.0) {
+ coefficient * (Math.pow(base, exponent) - 1);
}
+ if (altitude > MAXIMUM_ALTITUDE)
+ altitude = MAXIMUM_ALTITUDE;
+
return altitude;
}
+ public static double degrees_to_radians(double degrees) {
+ if (degrees == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return degrees * (Math.PI / 180.0);
+ }
+
+ public static double radians_to_degrees(double radians) {
+ if (radians == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return radians * (180.0 / Math.PI);
+ }
+
public static double
cc_battery_to_voltage(double battery)
{
}
public static double
- cc_ignitor_to_voltage(double ignite)
+ cc_igniter_to_voltage(double ignite)
{
return ignite / 32767 * 15.0;
}
return raw / 4095.0;
}
+ static double stm_adc(int raw) {
+ return raw / 4095.0;
+ }
+
+ static public double easy_timer_battery_voltage(int v_batt) {
+ if (v_batt != AltosLib.MISSING)
+ return 3.3 * stm_adc(v_batt) * (5.6 + 10.0) / 10.0;
+ return AltosLib.MISSING;
+ }
+
+ static double easy_timer_pyro_voltage_15v(int raw) {
+ if (raw != AltosLib.MISSING)
+ return 3.3 * stm_adc(raw) * (100.0 + 27.0) / 27.0;
+ return AltosLib.MISSING;
+ }
+
+ static public double metrum_battery_voltage(int v_batt) {
+ if (v_batt != AltosLib.MISSING)
+ return 3.3 * stm_adc(v_batt) * (5.6 + 10.0) / 10.0;
+ return AltosLib.MISSING;
+ }
+
+ static double metrum_pyro_voltage(int raw) {
+ if (raw != AltosLib.MISSING)
+ return 3.3 * stm_adc(raw) * (100.0 + 27.0) / 27.0;
+ return AltosLib.MISSING;
+ }
+
static public double mega_battery_voltage(int v_batt) {
if (v_batt != AltosLib.MISSING)
- return 3.3 * mega_adc(v_batt) * (5.6 + 10.0) / 10.0;
+ return 3.3 * stm_adc(v_batt) * (5.6 + 10.0) / 10.0;
+ return AltosLib.MISSING;
+ }
+
+ static double mega_pyro_voltage_15v(int raw) {
+ if (raw != AltosLib.MISSING)
+ return 3.3 * stm_adc(raw) * (100.0 + 27.0) / 27.0;
return AltosLib.MISSING;
}
- static double mega_pyro_voltage(int raw) {
+ static double mega_pyro_voltage_30v(int raw) {
if (raw != AltosLib.MISSING)
- return 3.3 * mega_adc(raw) * (100.0 + 27.0) / 27.0;
+ return 3.3 * stm_adc(raw) * (100.0 + 12.0) / 12.0;
return AltosLib.MISSING;
}
return sensor / 32767.0 * supply * 127/27;
}
- static double tele_gps_voltage(int sensor) {
+ static double tele_gps_1_voltage(int sensor) {
double supply = 3.3;
return sensor / 32767.0 * supply * (5.6 + 10.0) / 10.0;
}
+ static double tele_gps_2_voltage(int sensor) {
+ double supply = 3.3;
+
+ return sensor / 4095.0 * supply * (5.6 + 10.0) / 10.0;
+ }
+
+ static double tele_gps_3_voltage(int sensor) {
+ double supply = 3.3;
+
+ return sensor / 32767.0 * supply * (5.6 + 10.0) / 10.0;
+ }
+
+ /* STM32F042 */
+ static double tele_gps_4_voltage(int sensor) {
+ double supply = 3.3;
+
+ return sensor / 4095.0 * supply * (5.6 + 10.0) / 10.0;
+ }
+
static double tele_bt_3_battery(int raw) {
if (raw == AltosLib.MISSING)
return AltosLib.MISSING;
return 3.3 * mega_adc(raw) * (5.1 + 10.0) / 10.0;
}
- static double easy_mini_voltage(int sensor, int serial) {
+ static double easy_timer_voltage(int sensor) {
+ return 3.3 * mega_adc(sensor) * (100.0 + 27.0) / 27.0;
+ }
+
+ static double easy_mini_2_adc(double raw) {
+ return raw / 4095.0;
+ }
+
+ static double easy_mini_1_adc(double raw) {
+ return raw / 32767.0;
+ }
+
+ static double easy_mini_1_voltage(int sensor, int serial) {
double supply = 3.3;
double diode_offset = 0.0;
if (serial < 1665)
diode_offset = 0.150;
- return sensor / 32767.0 * supply * 127/27 + diode_offset;
+ return easy_mini_1_adc(sensor) * supply * 127/27 + diode_offset;
+ }
+
+ static double easy_mini_2_voltage(int sensor) {
+ double supply = 3.3;
+
+ return easy_mini_2_adc(sensor) * supply * 127/27;
+ }
+
+ static double easy_mini_3_voltage(int sensor) {
+ return easy_mini_1_voltage(sensor, 10000);
+ }
+
+ static double motor_pressure(double voltage) {
+ double base = 0.5;
+ double max = 4.5;
+ double full_scale_pressure = psi_to_pa(1600);
+
+ if (voltage < base)
+ voltage = base;
+ if (voltage > max)
+ voltage = max;
+ return (voltage - base) / (max - base) * full_scale_pressure;
+ }
+
+ static double easy_motor_3_adc(double raw) {
+ return raw / 32767.0;
+ }
+
+ static double easy_motor_3_voltage(int sensor) {
+ double supply = 3.3;
+
+ return easy_motor_3_adc(sensor) * supply * 15.6 / 10.0;
+ }
+
+ static double easy_motor_2_motor_pressure(int sensor, double ground_sensor) {
+ double supply = 3.3;
+ double ground_voltage = easy_mini_2_adc(ground_sensor) * supply * 15.6 / 10.0;
+ double voltage = easy_mini_2_adc(sensor) * supply * 15.6 / 10.0;
+
+ return motor_pressure(voltage) - motor_pressure(ground_voltage);
+ }
+
+ static double easy_motor_3_motor_pressure(int sensor, double ground_sensor) {
+ double supply = 3.3;
+ double ground_voltage = easy_motor_3_adc(ground_sensor) * supply * 15.6 / 10.0;
+ double voltage = easy_motor_3_adc(sensor) * supply * 15.6 / 10.0;
+
+ return motor_pressure(voltage) - motor_pressure(ground_voltage);
}
public static double radio_to_frequency(int freq, int setting, int cal, int channel) {
return 434.550 + channel * 0.100;
}
+ public static int telem_to_rssi(int telem) {
+ return telem / 2 - 74;
+ }
+
public static int[] ParseHex(String line) {
String[] tokens = line.split("\\s+");
int[] array = new int[tokens.length];
return lb / 0.22480894;
}
+ public static double acceleration_from_sensor(double sensor, double plus_g, double minus_g, double ground) {
+
+ if (sensor == AltosLib.MISSING)
+ return AltosLib.MISSING;
+
+ if (plus_g == AltosLib.MISSING || minus_g == AltosLib.MISSING)
+ return AltosLib.MISSING;
+
+ if (ground == AltosLib.MISSING)
+ ground = plus_g;
+
+ double counts_per_g = (plus_g - minus_g) / 2.0;
+ double counts_per_mss = counts_per_g / gravity;
+
+ if (counts_per_mss == 0)
+ return AltosLib.MISSING;
+
+ return (sensor - ground) / counts_per_mss;
+ }
+
public static boolean imperial_units = false;
public static AltosDistance distance = new AltosDistance();
public static AltosLongitude longitude = new AltosLongitude();
+ public static AltosRotationRate rotation_rate = new AltosRotationRate();
+
+ public static AltosStateName state_name = new AltosStateName();
+
+ public static AltosPyroName pyro_name = new AltosPyroName();
+
+ public static AltosUnits magnetic_field = new AltosGauss();
+
public static String show_gs(String format, double a) {
a = meters_to_g(a);
format = format.concat(" g");
public static int beep_freq_to_value(double freq) {
if (freq == 0)
- return 94;
+ return 0;
return (int) Math.floor (1.0/2.0 * (24.0e6/32.0) / freq + 0.5);
}
projects / fw / altos / blobdiff