/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ * Copyright © 2014 Keith Packard <keithp@keithp.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_5;
import java.io.*;
import java.util.*;
import java.text.*;
public class AltosEepromGPS extends AltosEeprom {
- public static final int record_length = 16;
+ public static final int record_length = 32;
+
+ public static final int max_sat = 12;
public int record_length() { return record_length; }
/* AO_LOG_FLIGHT elements */
public int flight() { return data16(0); }
- public int ground_accel() { return data16(2); }
- public int ground_pres() { return data32(4); }
- public int ground_temp() { return data32(8); }
-
- /* AO_LOG_STATE elements */
- public int state() { return data16(0); }
- public int reason() { return data16(2); }
-
- /* AO_LOG_SENSOR elements */
- public int pres() { return data32(0); }
- public int temp() { return data32(4); }
- public int accel() { return data16(8); }
+ public int start_altitude() { return data16(2); }
+ public int start_latitude() { return data32(4); }
+ public int start_longitude() { return data32(8); }
- /* AO_LOG_TEMP_VOLT elements */
- public int v_batt() { return data16(0); }
- public int sense_a() { return data16(2); }
- public int sense_m() { return data16(4); }
-
- /* AO_LOG_GPS_POS elements */
+ /* AO_LOG_GPS_TIME elements */
public int latitude() { return data32(0); }
public int longitude() { return data32(4); }
- public int altitude() { return data16(8); }
+ public int altitude_low() { return data16(8); }
+ public int hour() { return data8(10); }
+ public int minute() { return data8(11); }
+ public int second() { return data8(12); }
+ public int flags() { return data8(13); }
+ public int year() { return data8(14); }
+ public int month() { return data8(15); }
+ public int day() { return data8(16); }
+ public int course() { return data8(17); }
+ public int ground_speed() { return data16(18); }
+ public int climb_rate() { return data16(20); }
+ public int pdop() { return data8(22); }
+ public int hdop() { return data8(23); }
+ public int vdop() { return data8(24); }
+ public int mode() { return data8(25); }
+ public int altitude_high() { return data16(26); }
+
+ public boolean has_seconds() { return cmd == AltosLib.AO_LOG_GPS_TIME; }
+
+ public int seconds() {
+ switch (cmd) {
+ case AltosLib.AO_LOG_GPS_TIME:
+ return second() + 60 * (minute() + 60 * (hour() + 24 * (day() + 31 * month())));
+ default:
+ return 0;
+ }
+ }
- /* AO_LOG_GPS_TIME elements */
- public int hour() { return data8(0); }
- public int minute() { return data8(1); }
- public int second() { return data8(2); }
- public int flags() { return data8(3); }
- public int year() { return data8(4); }
- public int month() { return data8(5); }
- public int day() { return data8(6); }
-
- /* AO_LOG_GPS_SAT elements */
- public int nsat() { return data8(0); }
- public int more() { return data8(1); }
- public int svid(int n) { return data8(2 + n * 2); }
- public int c_n(int n) { return data8(2 + n * 2 + 1); }
-
- public AltosEepromMetrum2 (AltosEepromChunk chunk, int start) throws ParseException {
+ public AltosEepromGPS (AltosEepromChunk chunk, int start) throws ParseException {
parse_chunk(chunk, start);
}
/* Flush any pending GPS changes */
if (state.gps_pending) {
switch (cmd) {
- case AltosLib.AO_LOG_GPS_POS:
case AltosLib.AO_LOG_GPS_LAT:
case AltosLib.AO_LOG_GPS_LON:
case AltosLib.AO_LOG_GPS_ALT:
switch (cmd) {
case AltosLib.AO_LOG_FLIGHT:
- state.set_flight(flight());
- state.set_ground_accel(ground_accel());
- state.set_ground_pressure(ground_pres());
-// state.set_temperature(ground_temp() / 100.0);
- break;
- case AltosLib.AO_LOG_STATE:
- state.set_state(state());
- break;
- case AltosLib.AO_LOG_SENSOR:
- state.set_ms5607(pres(), temp());
- state.set_accel(accel());
-
- break;
- case AltosLib.AO_LOG_TEMP_VOLT:
- state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
-
- state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense_a()));
- state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense_m()));
-
+ if (state.flight == AltosLib.MISSING) {
+ state.set_boost_tick(tick);
+ state.set_flight(flight());
+ }
+ /* no place to log start lat/lon yet */
break;
- case AltosLib.AO_LOG_GPS_POS:
- gps = state.make_temp_gps();
+ case AltosLib.AO_LOG_GPS_TIME:
+ state.set_tick(tick);
+ gps = state.make_temp_gps(false);
gps.lat = latitude() / 1e7;
gps.lon = longitude() / 1e7;
- gps.alt = altitude();
- break;
- case AltosLib.AO_LOG_GPS_TIME:
- gps = state.make_temp_gps();
+ if (state.altitude_32())
+ gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
+ else
+ gps.alt = altitude_low();
gps.hour = hour();
gps.minute = minute();
gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
AltosLib.AO_GPS_NUM_SAT_SHIFT;
- gps.year = year();
+ gps.year = 2000 + year();
gps.month = month();
gps.day = day();
- break;
- case AltosLib.AO_LOG_GPS_SAT:
- gps = state.make_temp_gps();
-
- int n = nsat();
- for (int i = 0; i < n; i++)
- gps.add_sat(svid(i), c_n(i));
+ gps.ground_speed = ground_speed() * 1.0e-2;
+ gps.course = course() * 2;
+ gps.climb_rate = climb_rate() * 1.0e-2;
+ if (state.compare_version("1.4.9") >= 0) {
+ gps.pdop = pdop() / 10.0;
+ gps.hdop = hdop() / 10.0;
+ gps.vdop = vdop() / 10.0;
+ } else {
+ gps.pdop = pdop() / 100.0;
+ if (gps.pdop < 0.8)
+ gps.pdop += 2.56;
+ gps.hdop = hdop() / 100.0;
+ if (gps.hdop < 0.8)
+ gps.hdop += 2.56;
+ gps.vdop = vdop() / 100.0;
+ if (gps.vdop < 0.8)
+ gps.vdop += 2.56;
+ }
break;
}
}
- public AltosEepromMetrum2 (String line) {
+ public AltosEepromGPS (String line) {
parse_string(line);
}
static public LinkedList<AltosEeprom> read(FileInputStream input) {
- LinkedList<AltosEeprom>
megas = new LinkedList<AltosEeprom>();
+ LinkedList<AltosEeprom>
tgpss = new LinkedList<AltosEeprom>();
for (;;) {
try {
if (line == null)
break;
try {
- AltosEepromMetrum2 mega = new AltosEepromMetrum2(line);
- if (mega.cmd != AltosLib.AO_LOG_INVALID)
- megas.add(mega);
+ AltosEepromGPS tgps = new AltosEepromGPS(line);
+ if (tgps.cmd != AltosLib.AO_LOG_INVALID)
+ tgpss.add(tgps);
} catch (Exception e) {
System.out.printf ("exception\n");
}
}
}
- return megas;
+ return tgpss;
}
}
projects / fw / altos / blobdiff