public ArrayList<AltosTimeSeries> series = new ArrayList<AltosTimeSeries>();
+ public double speed_filter_width = 4.0;
+ public double accel_filter_width = 4.0;
+
public int[] indices() {
int[] indices = new int[series.size()];
for (int i = 0; i < indices.length; i++)
public static final String state_name = "State";
public void set_state(int state) {
+
+ if (state == AltosLib.ao_flight_pad)
+ return;
+
if (state_series == null)
state_series = add_series(state_name, AltosConvert.state_name);
else if (this.state == state)
public static final String accel_name = "Accel";
+ public AltosTimeSeries vert_accel_series;
+
+ public static final String vert_accel_name = "Vertical Accel";
+
public void set_acceleration(double acceleration) {
- if (accel_series == null) {
+ if (acceleration == AltosLib.MISSING)
+ return;
+ if (accel_series == null)
accel_series = add_series(accel_name, AltosConvert.accel);
- }
+
accel_series.add(time(), acceleration);
}
if (speed_series != null) {
AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
- speed_series.filter(temp_series, 2.0);
+ speed_series.filter(temp_series, accel_filter_width);
accel_series = add_series(accel_name, AltosConvert.accel);
temp_series.differentiate(accel_series);
}
public static final String height_name = "Height";
public void set_pressure(double pa) {
+ if (pa == AltosLib.MISSING)
+ return;
+
if (pressure_series == null)
pressure_series = add_series(pressure_name, AltosConvert.pressure);
pressure_series.add(time(), pa);
if (altitude_series == null)
altitude_series = add_series(altitude_name, AltosConvert.height);
+ if (cal_data.ground_pressure == AltosLib.MISSING)
+ cal_data.set_ground_pressure(pa);
+
double altitude = AltosConvert.pressure_to_altitude(pa);
altitude_series.add(time(), altitude);
}
for (AltosTimeValue alt : altitude_series)
height_series.add(alt.time, alt.value - ground_altitude);
}
+
+ if (gps_height == null && cal_data.gps_pad != null && cal_data.gps_pad.alt != AltosLib.MISSING && gps_altitude != null) {
+ double gps_ground_altitude = cal_data.gps_pad.alt;
+ gps_height = add_series(gps_height_name, AltosConvert.height);
+ for (AltosTimeValue gps_alt : gps_altitude)
+ gps_height.add(gps_alt.time, gps_alt.value - gps_ground_altitude);
+ }
}
public AltosTimeSeries speed_series;
if (altitude_series != null) {
AltosTimeSeries temp_series = make_series(altitude_name, AltosConvert.height);
- altitude_series.filter(temp_series, 1.0);
+ altitude_series.filter(temp_series, speed_filter_width);
alt_speed_series = make_series(speed_name, AltosConvert.speed);
temp_series.differentiate(alt_speed_series);
}
if (accel_series != null) {
+
+ if (orient_series != null) {
+ vert_accel_series = add_series(vert_accel_name, AltosConvert.accel);
+
+ for (AltosTimeValue a : accel_series) {
+ double orient = orient_series.value(a.time);
+ double a_abs = a.value + AltosConvert.gravity;
+ double v_a = a_abs * Math.cos(AltosConvert.degrees_to_radians(orient)) - AltosConvert.gravity;
+
+ vert_accel_series.add(a.time, v_a);
+ }
+ }
+
AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
- accel_series.integrate(temp_series);
+
+ if (vert_accel_series != null)
+ vert_accel_series.integrate(temp_series);
+ else
+ accel_series.integrate(temp_series);
accel_speed_series = make_series(speed_name, AltosConvert.speed);
temp_series.filter(accel_speed_series, 0.1);
add_series(speed_series);
}
+ public AltosTimeSeries orient_series;
+
+ public static final String orient_name = "Tilt Angle";
+
+ private void compute_orient() {
+
+ if (orient_series != null)
+ return;
+
+ if (accel_ground_across == AltosLib.MISSING)
+ return;
+
+ if (cal_data.pad_orientation == AltosLib.MISSING)
+ return;
+
+ if (cal_data.accel_zero_across == AltosLib.MISSING)
+ return;
+
+ AltosRotation rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data.accel_zero_across),
+ AltosIMU.convert_accel(accel_ground_through - cal_data.accel_zero_through),
+ AltosIMU.convert_accel(accel_ground_along - cal_data.accel_zero_along),
+ cal_data.pad_orientation);
+ double prev_time = ground_time;
+
+ orient_series = add_series(orient_name, AltosConvert.orient);
+ orient_series.add(ground_time, rotation.tilt());
+
+ for (AltosTimeValue roll_v : gyro_roll) {
+ double time = roll_v.time;
+ double dt = time - prev_time;
+
+ if (dt > 0) {
+ double roll = AltosConvert.degrees_to_radians(roll_v.value);
+ double pitch = AltosConvert.degrees_to_radians(gyro_pitch.value(time));
+ double yaw = AltosConvert.degrees_to_radians(gyro_yaw.value(time));
+
+ rotation.rotate(dt, pitch, yaw, roll);
+ orient_series.add(time, rotation.tilt());
+ }
+ prev_time = time;
+ }
+ }
+
public AltosTimeSeries kalman_height_series, kalman_speed_series, kalman_accel_series;
public static final String kalman_height_name = "Kalman Height";
}
sats_in_soln.add(time(), gps.nsat);
if (gps.pdop != AltosLib.MISSING) {
- if (gps_pdop == null) {
+ if (gps_pdop == null)
gps_pdop = add_series(gps_pdop_name, null);
- gps_hdop = add_series(gps_hdop_name, null);
- gps_vdop = add_series(gps_vdop_name, null);
- }
gps_pdop.add(time(), gps.pdop);
+ }
+ if (gps.hdop != AltosLib.MISSING) {
+ if (gps_hdop == null)
+ gps_hdop = add_series(gps_hdop_name, null);
gps_hdop.add(time(), gps.hdop);
+ }
+ if (gps.vdop != AltosLib.MISSING) {
+ if (gps_vdop == null)
+ gps_vdop = add_series(gps_vdop_name, null);
gps_vdop.add(time(), gps.vdop);
}
if (gps.locked) {
- if (gps_altitude == null) {
- gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
- gps_height = add_series(gps_height_name, AltosConvert.height);
- gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
- gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
- gps_course = add_series(gps_course_name, null);
- gps_speed = add_series(gps_speed_name, null);
- }
if (gps.alt != AltosLib.MISSING) {
+ if (gps_altitude == null)
+ gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
gps_altitude.add(time(), gps.alt);
- if (cal_data.gps_pad != null)
- gps_height.add(time(), gps.alt - cal_data.gps_pad.alt);
}
- if (gps.ground_speed != AltosLib.MISSING)
+ if (gps.ground_speed != AltosLib.MISSING) {
+ if (gps_ground_speed == null)
+ gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
gps_ground_speed.add(time(), gps.ground_speed);
- if (gps.climb_rate != AltosLib.MISSING)
+ }
+ if (gps.climb_rate != AltosLib.MISSING) {
+ if (gps_ascent_rate == null)
+ gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
gps_ascent_rate.add(time(), gps.climb_rate);
- if (gps.course != AltosLib.MISSING)
+ }
+ if (gps.course != AltosLib.MISSING) {
+ if (gps_course == null)
+ gps_course = add_series(gps_course_name, null);
gps_course.add(time(), gps.course);
- if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING)
+ }
+ if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING) {
+ if (gps_speed == null)
+ gps_speed = add_series(gps_speed_name, null);
gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
gps.climb_rate * gps.climb_rate));
+ }
}
if (gps.cc_gps_sat != null) {
if (sats_in_view == null)
accel_through.add(time(), through);
}
+ private double accel_ground_along = AltosLib.MISSING;
+ private double accel_ground_across = AltosLib.MISSING;
+ private double accel_ground_through = AltosLib.MISSING;
+
+ private double ground_time;
+
public void set_accel_ground(double along, double across, double through) {
+ accel_ground_along = along;
+ accel_ground_across = across;
+ accel_ground_through = through;
+ ground_time = time();
}
public void set_gyro(double roll, double pitch, double yaw) {
mag_through.add(time(), through);
}
- public static final String orient_name = "Tilt Angle";
-
- public AltosTimeSeries orient_series;
-
public void set_orient(double orient) {
if (orient_series == null)
orient_series = add_series(orient_name, AltosConvert.orient);
}
public void finish() {
+ compute_orient();
compute_speed();
compute_accel();
compute_height();
projects / fw / altos / blobdiff