public class AltosFlightSeries extends AltosDataListener {
- public ArrayList<AltosTimeSeries> series;
+ public ArrayList<AltosTimeSeries> series = new ArrayList<AltosTimeSeries>();
public int[] indices() {
int[] indices = new int[series.size()];
for (int i = 0; i < indices.length; i++)
- indices[i] = 0;
+ indices[i] = -1;
+ step_indices(indices);
return indices;
}
private double time(int id, int index) {
AltosTimeSeries s = series.get(id);
+
+ if (index < 0)
+ return Double.NEGATIVE_INFINITY;
+
if (index < s.values.size())
return s.values.get(index).time;
return Double.POSITIVE_INFINITY;
public double value(String name, int[] indices) {
for (int i = 0; i < indices.length; i++) {
AltosTimeSeries s = series.get(i);
+ if (s.label.equals(name)) {
+ int index = indices[i];
+ if (index < 0)
+ index = 0;
+ if (index >= s.values.size())
+ index = s.values.size() - 1;
+ return s.values.get(index).value;
+ }
+ }
+ return AltosLib.MISSING;
+ }
+
+ public double value_before(String name, double time) {
+ for (AltosTimeSeries s : series) {
+ if (s.label.equals(name))
+ return s.value_before(time);
+ }
+ return AltosLib.MISSING;
+ }
+
+ public double value_after(String name, double time) {
+ for (AltosTimeSeries s : series) {
if (s.label.equals(name))
- return s.values.get(indices[i]).value;
+ return s.value_after(time);
}
return AltosLib.MISSING;
}
public static final String state_name = "State";
public void set_state(int state) {
- this.state = state;
if (state_series == null)
state_series = add_series(state_name, AltosConvert.state_name);
- else if ((int) state_series.get(state_series.size()-1).value == state)
+ else if (this.state == state)
return;
+ this.state = state;
state_series.add(time(), state);
}
public void set_acceleration(double acceleration) {
if (accel_series == null) {
- System.out.printf("set acceleration %g\n", acceleration);
accel_series = add_series(accel_name, AltosConvert.accel);
}
accel_series.add(time(), acceleration);
AltosTimeSeries status_series;
- public static final String status_name = "Status";
+ public static final String status_name = "Radio Status";
public void set_rssi(int rssi, int status) {
- if (rssi_series == null)
+ if (rssi_series == null) {
rssi_series = add_series(rssi_name, null);
- rssi_series.add(time(), rssi);
- if (status_series == null)
status_series = add_series(status_name, null);
+ }
+ rssi_series.add(time(), rssi);
status_series.add(time(), status);
}
altitude_series.add(time(), altitude);
}
- private void compute_height(double ground_altitude) {
- if (height_series == null) {
+ private void compute_height() {
+ double ground_altitude = cal_data.ground_altitude;
+ if (height_series == null && ground_altitude != AltosLib.MISSING) {
height_series = add_series(height_name, AltosConvert.height);
for (AltosTimeValue alt : altitude_series)
height_series.add(alt.time, alt.value - ground_altitude);
public static final String speed_name = "Speed";
private void compute_speed() {
- if (speed_series != null) {
- System.out.printf("speed series already made\n");
+ if (speed_series != null)
return;
- }
AltosTimeSeries alt_speed_series = null;
AltosTimeSeries accel_speed_series = null;
alt_speed_series = make_series(speed_name, AltosConvert.speed);
temp_series.filter(alt_speed_series, 10.0);
- } else {
- System.out.printf("no altitude series\n");
}
if (accel_series != null) {
AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
accel_speed_series = make_series(speed_name, AltosConvert.speed);
temp_series.filter(accel_speed_series, 0.1);
- } else {
- System.out.printf("no accel series\n");
}
if (alt_speed_series != null && accel_speed_series != null) {
} else if (accel_speed_series != null) {
speed_series = accel_speed_series;
}
- if (speed_series != null) {
+ if (speed_series != null)
add_series(speed_series);
- System.out.printf("speed series for %s set to %s\n", this.toString(), speed_series.toString());
- } else
- System.out.printf("didn't manage to make speed series\n");
}
AltosTimeSeries kalman_height_series, kalman_speed_series, kalman_accel_series;
main_voltage_series.add(time(), volts);
}
+ public ArrayList<AltosGPSTimeValue> gps_series;
+
+ public AltosGPS gps_before(double time) {
+ AltosGPS gps = null;
+ for (AltosGPSTimeValue gtv : gps_series)
+ if (gtv.time <= time)
+ gps = gtv.gps;
+ else
+ break;
+ return gps;
+ }
+
AltosTimeSeries sats_in_view;
AltosTimeSeries sats_in_soln;
AltosTimeSeries gps_altitude;
AltosTimeSeries gps_ascent_rate;
AltosTimeSeries gps_course;
AltosTimeSeries gps_speed;
-
- public ArrayList<AltosGPSTimeValue> gps_series;
+ AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
public static final String sats_in_view_name = "Satellites in view";
public static final String sats_in_soln_name = "Satellites in solution";
public static final String gps_ascent_rate_name = "GPS Ascent Rate";
public static final String gps_course_name = "GPS Course";
public static final String gps_speed_name = "GPS Speed";
+ public static final String gps_pdop_name = "GPS Dilution of Precision";
+ public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
+ public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
public void set_gps(AltosGPS gps) {
if (gps_series == null)
gps_series = new ArrayList<AltosGPSTimeValue>();
gps_series.add(new AltosGPSTimeValue(time(), gps));
- if (sats_in_view == null) {
- sats_in_view = add_series(sats_in_view_name, null);
+ if (sats_in_soln == null) {
sats_in_soln = add_series(sats_in_soln_name, 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.cc_gps_sat != null)
- sats_in_view.add(time(), gps.cc_gps_sat.length);
+ sats_in_soln.add(time(), gps.nsat);
+ if (gps.pdop != AltosLib.MISSING) {
+ 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);
+ gps_hdop.add(time(), gps.hdop);
+ gps_vdop.add(time(), gps.vdop);
+ }
if (gps.locked) {
- sats_in_soln.add(time(), gps.nsat);
+ 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) {
gps_altitude.add(time(), gps.alt);
- if (cal_data.gps_ground_altitude != AltosLib.MISSING)
- gps_height.add(time(), gps.alt - cal_data.gps_ground_altitude);
+ if (cal_data.gps_pad != null)
+ gps_height.add(time(), gps.alt - cal_data.gps_pad.alt);
}
if (gps.ground_speed != AltosLib.MISSING)
gps_ground_speed.add(time(), gps.ground_speed);
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)
+ sats_in_view = add_series(sats_in_view_name, null);
+ sats_in_view.add(time(), gps.cc_gps_sat.length);
+ }
}
- public static final String accel_across_name = "Accel Across";
public static final String accel_along_name = "Accel Along";
+ public static final String accel_across_name = "Accel Across";
public static final String accel_through_name = "Accel Through";
+ AltosTimeSeries accel_along, accel_across, accel_through;
+
+ public static final String gyro_roll_name = "Roll Rate";
+ public static final String gyro_pitch_name = "Pitch Rate";
+ public static final String gyro_yaw_name = "Yaw Rate";
+
+ AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
+
+ public static final String mag_along_name = "Magnetic Field Along";
+ public static final String mag_across_name = "Magnetic Field Across";
+ public static final String mag_through_name = "Magnetic Field Through";
+
+ AltosTimeSeries mag_along, mag_across, mag_through;
+
public void set_accel(double along, double across, double through) {
+ if (accel_along == null) {
+ accel_along = add_series(accel_along_name, AltosConvert.accel);
+ accel_across = add_series(accel_across_name, AltosConvert.accel);
+ accel_through = add_series(accel_through_name, AltosConvert.accel);
+ }
+ accel_along.add(time(), along);
+ accel_across.add(time(), across);
+ accel_through.add(time(), through);
}
public void set_accel_ground(double along, double across, double through) {
}
public void set_gyro(double roll, double pitch, double yaw) {
+ if (gyro_roll == null) {
+ gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
+ gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
+ gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
+ }
+ gyro_roll.add(time(), roll);
+ gyro_pitch.add(time(), pitch);
+ gyro_yaw.add(time(), yaw);
}
public void set_mag(double along, double across, double through) {
+ if (mag_along == null) {
+ mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
+ mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
+ mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
+ }
+ mag_along.add(time(), along);
+ mag_across.add(time(), across);
+ mag_through.add(time(), through);
+ }
+
+ public static final String orient_name = "Tilt Angle";
+
+ AltosTimeSeries orient_series;
+
+ public void set_orient(double orient) {
+ if (orient_series == null)
+ orient_series = add_series(orient_name, AltosConvert.orient);
+ orient_series.add(time(), orient);
}
- public void set_orient(double new_orient) { }
+ public static final String pyro_voltage_name = "Pyro Voltage";
+
+ AltosTimeSeries pyro_voltage;
public void set_pyro_voltage(double volts) {
+ if (pyro_voltage == null)
+ pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
+ pyro_voltage.add(time(), volts);
+ }
+
+ private static String[] igniter_voltage_names;
+
+ public String igniter_voltage_name(int channel) {
+ if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
+ String[] new_igniter_voltage_names = new String[channel + 1];
+ int i = 0;
+
+ if (igniter_voltage_names != null) {
+ for (; i < igniter_voltage_names.length; i++)
+ new_igniter_voltage_names[i] = igniter_voltage_names[i];
+ }
+ for (; i < channel+1; i++)
+ new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
+ igniter_voltage_names = new_igniter_voltage_names;
+ }
+ return igniter_voltage_names[channel];
}
- public void set_ignitor_voltage(double[] voltage) {
+ AltosTimeSeries[] igniter_voltage;
+
+ public void set_igniter_voltage(double[] voltage) {
+ int channels = voltage.length;
+ if (igniter_voltage == null || igniter_voltage.length <= channels) {
+ AltosTimeSeries[] new_igniter_voltage = new AltosTimeSeries[channels + 1];
+ int i = 0;
+
+ if (igniter_voltage != null) {
+ for (; i < igniter_voltage.length; i++)
+ new_igniter_voltage[i] = igniter_voltage[i];
+ }
+ for (; i < channels; i++)
+ new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
+ igniter_voltage = new_igniter_voltage;
+ }
+ for (int channel = 0; channel < voltage.length; channel++)
+ igniter_voltage[channel].add(time(), voltage[channel]);
}
+ public static final String pyro_fired_name = "Pyro Channel State";
+
+ AltosTimeSeries pyro_fired_series;
+
+ int last_pyro_mask;
+
public void set_pyro_fired(int pyro_mask) {
+ if (pyro_fired_series == null)
+ pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
+ for (int channel = 0; channel < 32; channel++) {
+ if ((last_pyro_mask & (1 << channel)) == 0 &&
+ (pyro_mask & (1 << channel)) != 0) {
+ pyro_fired_series.add(time(), channel);
+ }
+ }
+ last_pyro_mask = pyro_mask;
}
public void set_companion(AltosCompanion companion) {
}
- public void fill_in() {
- System.out.printf("fill in %s\n", this.toString());
+ public void finish() {
compute_speed();
compute_accel();
- if (cal_data.ground_altitude != AltosLib.MISSING)
- compute_height(cal_data.ground_altitude);
- }
-
- public void init() {
- time = AltosLib.MISSING;
- series = new ArrayList<AltosTimeSeries>();
+ compute_height();
}
public AltosTimeSeries[] series() {
- fill_in();
+ finish();
return series.toArray(new AltosTimeSeries[0]);
}
public AltosFlightSeries(AltosCalData cal_data) {
super(cal_data);
- System.out.printf("new flight series %s\n", this.toString());
- init();
}
}
projects / fw / altos / blobdiff