altoslib: Add constants for speed/accel filtering

[fw/altos] / altoslib / AltosFlightSeries.java

diff --git a/altoslib/AltosFlightSeries.java b/altoslib/AltosFlightSeries.java
index 6f4f7bb1e89c5960a5744df84ca1ba49cc7c273e..7e643d9651359a10455504418766048ba024e60c 100644 (file)
--- a/altoslib/AltosFlightSeries.java
+++ b/altoslib/AltosFlightSeries.java
@@ -20,6 +20,9 @@ public class AltosFlightSeries extends AltosDataListener {
 
        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++)
@@ -86,6 +89,14 @@ public class AltosFlightSeries extends AltosDataListener {
                return AltosLib.MISSING;
        }
 
+       public double value(String name, double time) {
+               for (AltosTimeSeries s : series) {
+                       if (s.label.equals(name))
+                               return s.value(time);
+               }
+               return AltosLib.MISSING;
+       }
+
        public double value_before(String name, double time) {
                for (AltosTimeSeries s : series) {
                        if (s.label.equals(name))
@@ -127,7 +138,7 @@ public class AltosFlightSeries extends AltosDataListener {
                return false;
        }
 
-       AltosTimeSeries state_series;
+       public AltosTimeSeries state_series;
 
        public static final String state_name = "State";
 
@@ -140,7 +151,7 @@ public class AltosFlightSeries extends AltosDataListener {
                state_series.add(time(), state);
        }
 
-       AltosTimeSeries accel_series;
+       public AltosTimeSeries  accel_series;
 
        public static final String accel_name = "Accel";
 
@@ -156,21 +167,21 @@ public class AltosFlightSeries extends AltosDataListener {
                        return;
 
                if (speed_series != null) {
-                       AltosTimeSeries temp_series = make_series(accel_name, AltosConvert.accel);
-                       speed_series.differentiate(temp_series);
+                       AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
+                       speed_series.filter(temp_series, accel_filter_width);
                        accel_series = add_series(accel_name, AltosConvert.accel);
-                       temp_series.filter(accel_series, 0.25);
+                       temp_series.differentiate(accel_series);
                }
        }
 
        public void set_received_time(long received_time) {
        }
 
-       AltosTimeSeries rssi_series;
+       public AltosTimeSeries rssi_series;
 
        public static final String rssi_name = "RSSI";
 
-       AltosTimeSeries status_series;
+       public AltosTimeSeries status_series;
 
        public static final String status_name = "Radio Status";
 
@@ -183,15 +194,15 @@ public class AltosFlightSeries extends AltosDataListener {
                status_series.add(time(), status);
        }
 
-       AltosTimeSeries pressure_series;
+       public AltosTimeSeries pressure_series;
 
        public static final String pressure_name = "Pressure";
 
-       AltosTimeSeries altitude_series;
+       public AltosTimeSeries altitude_series;
 
        public static final String altitude_name = "Altitude";
 
-       AltosTimeSeries height_series;
+       public AltosTimeSeries height_series;
 
        public static final String height_name = "Height";
 
@@ -208,14 +219,14 @@ public class AltosFlightSeries extends AltosDataListener {
 
        private void compute_height() {
                double ground_altitude = cal_data.ground_altitude;
-               if (height_series == null && ground_altitude != AltosLib.MISSING) {
+               if (height_series == null && ground_altitude != AltosLib.MISSING && altitude_series != null) {
                        height_series = add_series(height_name, AltosConvert.height);
                        for (AltosTimeValue alt : altitude_series)
                                height_series.add(alt.time, alt.value - ground_altitude);
                }
        }
 
-       AltosTimeSeries speed_series;
+       public AltosTimeSeries speed_series;
 
        public static final String speed_name = "Speed";
 
@@ -227,11 +238,11 @@ public class AltosFlightSeries extends AltosDataListener {
                AltosTimeSeries accel_speed_series = null;
 
                if (altitude_series != null) {
-                       AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
-                       altitude_series.differentiate(temp_series);
+                       AltosTimeSeries temp_series = make_series(altitude_name, AltosConvert.height);
+                       altitude_series.filter(temp_series, speed_filter_width);
 
                        alt_speed_series = make_series(speed_name, AltosConvert.speed);
-                       temp_series.filter(alt_speed_series, 10.0);
+                       temp_series.differentiate(alt_speed_series);
                }
                if (accel_series != null) {
                        AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
@@ -274,7 +285,7 @@ public class AltosFlightSeries extends AltosDataListener {
                        add_series(speed_series);
        }
 
-       AltosTimeSeries kalman_height_series, kalman_speed_series, kalman_accel_series;
+       public AltosTimeSeries  kalman_height_series, kalman_speed_series, kalman_accel_series;
 
        public static final String kalman_height_name = "Kalman Height";
        public static final String kalman_speed_name = "Kalman Speed";
@@ -291,7 +302,7 @@ public class AltosFlightSeries extends AltosDataListener {
                kalman_accel_series.add(time(), acceleration);
        }
 
-       AltosTimeSeries thrust_series;
+       public AltosTimeSeries thrust_series;
 
        public static final String thrust_name = "Thrust";
 
@@ -301,7 +312,7 @@ public class AltosFlightSeries extends AltosDataListener {
                thrust_series.add(time(), N);
        }
 
-       AltosTimeSeries temperature_series;
+       public AltosTimeSeries temperature_series;
 
        public static final String temperature_name = "Temperature";
 
@@ -311,7 +322,7 @@ public class AltosFlightSeries extends AltosDataListener {
                temperature_series.add(time(), deg_c);
        }
 
-       AltosTimeSeries battery_voltage_series;
+       public AltosTimeSeries battery_voltage_series;
 
        public static final String battery_voltage_name = "Battery Voltage";
 
@@ -323,7 +334,7 @@ public class AltosFlightSeries extends AltosDataListener {
                battery_voltage_series.add(time(), volts);
        }
 
-       AltosTimeSeries apogee_voltage_series;
+       public AltosTimeSeries apogee_voltage_series;
 
        public static final String apogee_voltage_name = "Apogee Voltage";
 
@@ -335,7 +346,7 @@ public class AltosFlightSeries extends AltosDataListener {
                apogee_voltage_series.add(time(), volts);
        }
 
-       AltosTimeSeries main_voltage_series;
+       public AltosTimeSeries main_voltage_series;
 
        public static final String main_voltage_name = "Main Voltage";
 
@@ -359,15 +370,15 @@ public class AltosFlightSeries extends AltosDataListener {
                return gps;
        }
 
-       AltosTimeSeries sats_in_view;
-       AltosTimeSeries sats_in_soln;
-       AltosTimeSeries gps_altitude;
-       AltosTimeSeries gps_height;
-       AltosTimeSeries gps_ground_speed;
-       AltosTimeSeries gps_ascent_rate;
-       AltosTimeSeries gps_course;
-       AltosTimeSeries gps_speed;
-       AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
+       public AltosTimeSeries  sats_in_view;
+       public AltosTimeSeries sats_in_soln;
+       public AltosTimeSeries gps_altitude;
+       public AltosTimeSeries gps_height;
+       public AltosTimeSeries gps_ground_speed;
+       public AltosTimeSeries gps_ascent_rate;
+       public AltosTimeSeries gps_course;
+       public AltosTimeSeries gps_speed;
+       public 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";
@@ -391,13 +402,18 @@ public class AltosFlightSeries extends AltosDataListener {
                }
                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) {
@@ -435,19 +451,19 @@ public class AltosFlightSeries extends AltosDataListener {
        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 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 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 AltosTimeSeries mag_along, mag_across, mag_through;
 
        public  void set_accel(double along, double across, double through) {
                if (accel_along == null) {
@@ -487,7 +503,7 @@ public class AltosFlightSeries extends AltosDataListener {
 
        public static final String orient_name = "Tilt Angle";
 
-       AltosTimeSeries orient_series;
+       public AltosTimeSeries orient_series;
 
        public void set_orient(double orient) {
                if (orient_series == null)
@@ -497,7 +513,7 @@ public class AltosFlightSeries extends AltosDataListener {
 
        public static final String pyro_voltage_name = "Pyro Voltage";
 
-       AltosTimeSeries pyro_voltage;
+       public AltosTimeSeries pyro_voltage;
 
        public  void set_pyro_voltage(double volts) {
                if (pyro_voltage == null)
@@ -523,7 +539,7 @@ public class AltosFlightSeries extends AltosDataListener {
                return igniter_voltage_names[channel];
        }
 
-       AltosTimeSeries[] igniter_voltage;
+       public AltosTimeSeries[] igniter_voltage;
 
        public  void set_igniter_voltage(double[] voltage) {
                int channels = voltage.length;
@@ -545,7 +561,7 @@ public class AltosFlightSeries extends AltosDataListener {
 
        public static final String pyro_fired_name = "Pyro Channel State";
 
-       AltosTimeSeries pyro_fired_series;
+       public AltosTimeSeries pyro_fired_series;
 
        int     last_pyro_mask;