import java.util.*;
-public class AltosFlightSeries extends AltosFlightListener {
+public class AltosFlightSeries extends AltosDataListener {
- int flight;
+ public ArrayList<AltosTimeSeries> series;
- int tick;
- int boost_tick;
+ public int[] indices() {
+ int[] indices = new int[series.size()];
+ for (int i = 0; i < indices.length; i++)
+ indices[i] = 0;
+ return indices;
+ }
- AltosGPS temp_gps;
- int temp_gps_sat_tick;
+ private double time(int id, int index) {
+ AltosTimeSeries s = series.get(id);
+ if (index < s.values.size())
+ return s.values.get(index).time;
+ return Double.POSITIVE_INFINITY;
+ }
- AltosMs5607 ms5607;
+ public boolean step_indices(int[] indices) {
+ double min_next = time(0, indices[0]+1);
- public ArrayList<AltosTimeSeries> series;
+ for (int i = 1; i < indices.length; i++) {
+ double next = time(i, indices[i]+1);
+ if (next < min_next)
+ min_next = next;
+ }
- /* AltosEepromRecord */
- public void set_boost_tick(int boost_tick) {
- if (boost_tick != AltosLib.MISSING)
- this.boost_tick = boost_tick;
- }
+ if (min_next == Double.POSITIVE_INFINITY)
+ return false;
- public void set_tick(int tick) {
- if (tick != AltosLib.MISSING)
- this.tick = tick;
+ for (int i = 0; i < indices.length; i++) {
+ double t = time(i, indices[i] + 1);
+
+ if (t <= min_next)
+ indices[i]++;
+ }
+ return true;
}
- public double time() {
- if (tick == AltosLib.MISSING)
- return AltosLib.MISSING;
- return tick / 100.0;
+ public double time(int[] indices) {
+ double max = time(0, indices[0]);
+
+ for (int i = 1; i < indices.length; i++) {
+ double t = time(i, indices[i]);
+ if (t >= max)
+ max = t;
+ }
+ return max;
}
- public double boost_time() {
- if (boost_tick == AltosLib.MISSING)
- return AltosLib.MISSING;
- return boost_tick / 100.0;
+ 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))
+ return s.values.get(indices[i]).value;
+ }
+ return AltosLib.MISSING;
}
public AltosTimeSeries make_series(String label, AltosUnits units) {
return new AltosTimeSeries(label, units);
}
+ public void add_series(AltosTimeSeries s) {
+ series.add(s);
+ }
+
public AltosTimeSeries add_series(String label, AltosUnits units) {
- System.out.printf("add series %s\n", label);
AltosTimeSeries s = make_series(label, units);
- series.add(s);
+ add_series(s);
return s;
}
- /* AltosEepromRecordFull */
+ public void remove_series(AltosTimeSeries s) {
+ series.remove(s);
+ }
+
+ public boolean has_series(String label) {
+ for (AltosTimeSeries s : series)
+ if (s.label.equals(label))
+ return true;
+ return false;
+ }
AltosTimeSeries state_series;
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, null);
+ state_series = add_series(state_name, AltosConvert.state_name);
+ else if ((int) state_series.get(state_series.size()-1).value == state)
+ return;
state_series.add(time(), state);
}
- public void set_flight(int flight) {
- if (flight != AltosLib.MISSING)
- this.flight = flight;
- }
- public int flight() {
- return flight;
- }
-
AltosTimeSeries accel_series;
- double accel_plus_g, accel_minus_g;
-
public static final String accel_name = "Accel";
- public void set_accel(double accel) {
- if (accel_series == null)
+ 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);
- double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
- double counts_per_mss = counts_per_g / 9.80665;
- double mss = (accel_plus_g - accel) / counts_per_mss;
-
- accel_series.add(time(), mss);
+ }
+ accel_series.add(time(), acceleration);
}
+ private void compute_accel() {
+ if (accel_series != null)
+ return;
- public void set_accel_g(double accel_plus_g, double accel_minus_g) {
- this.accel_plus_g = accel_plus_g;
- this.accel_minus_g = accel_minus_g;
+ if (speed_series != null) {
+ AltosTimeSeries temp_series = make_series(accel_name, AltosConvert.accel);
+ speed_series.differentiate(temp_series);
+ accel_series = add_series(accel_name, AltosConvert.accel);
+ temp_series.filter(accel_series, 0.25);
+ }
}
- public void set_config_data(AltosConfigData config_data) {
-// if (config_data.callsign != null)
-// set_callsign(config_data.callsign);
- if (config_data.accel_cal_plus != AltosLib.MISSING &&
- config_data.accel_cal_minus != AltosLib.MISSING)
- set_accel_g(config_data.accel_cal_plus, config_data.accel_cal_minus);
-// if (config_data.product != null)
-// set_product(config_data.product);
-// if (config_data.log_format != AltosLib.MISSING)
-// set_log_format(config_data.log_format);
-// if (config_data.serial != AltosLib.MISSING)
-// set_serial(config_data.serial);
- AltosMs5607 ms5607 = new AltosMs5607(config_data);
- if (ms5607.valid_config())
- this.ms5607 = ms5607;
+ public void set_received_time(long received_time) {
}
- public void set_ground_accel(double ground_accel) {
+ AltosTimeSeries rssi_series;
+
+ public static final String rssi_name = "RSSI";
+
+ AltosTimeSeries status_series;
+
+ public static final String status_name = "Status";
+
+ public void set_rssi(int rssi, int status) {
+ 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);
+ status_series.add(time(), status);
}
AltosTimeSeries pressure_series;
public static final String pressure_name = "Pressure";
+ AltosTimeSeries altitude_series;
+
+ public static final String altitude_name = "Altitude";
+
+ AltosTimeSeries height_series;
+
+ public static final String height_name = "Height";
+
public void set_pressure(double pa) {
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);
+
+ double altitude = AltosConvert.pressure_to_altitude(pa);
+ altitude_series.add(time(), altitude);
+ }
+
+ private void compute_height(double ground_altitude) {
+ if (height_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 static final String speed_name = "Speed";
+
+ private void compute_speed() {
+ if (speed_series != null) {
+ System.out.printf("speed series already made\n");
+ return;
+ }
+
+ AltosTimeSeries alt_speed_series = null;
+ AltosTimeSeries accel_speed_series = null;
+
+ if (altitude_series != null) {
+ AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
+ altitude_series.differentiate(temp_series);
+
+ 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_series.integrate(temp_series);
+
+ 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) {
+ double apogee_time = AltosLib.MISSING;
+ if (state_series != null) {
+ for (AltosTimeValue d : state_series) {
+ if (d.value >= AltosLib.ao_flight_drogue){
+ apogee_time = d.time;
+ break;
+ }
+ }
+ }
+ if (apogee_time == AltosLib.MISSING) {
+ speed_series = alt_speed_series;
+ } else {
+ speed_series = make_series(speed_name, AltosConvert.speed);
+ for (AltosTimeValue d : accel_speed_series) {
+ if (d.time <= apogee_time)
+ speed_series.add(d);
+ }
+ for (AltosTimeValue d : alt_speed_series) {
+ if (d.time > apogee_time)
+ speed_series.add(d);
+ }
+
+ }
+ } else if (alt_speed_series != null) {
+ speed_series = alt_speed_series;
+ } else if (accel_speed_series != null) {
+ speed_series = accel_speed_series;
+ }
+ 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;
+
+ public static final String kalman_height_name = "Kalman Height";
+ public static final String kalman_speed_name = "Kalman Speed";
+ public static final String kalman_accel_name = "Kalman Accel";
+
+ public void set_kalman(double height, double speed, double acceleration) {
+ if (kalman_height_series == null) {
+ kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
+ kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
+ kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
+ }
+ kalman_height_series.add(time(), height);
+ kalman_speed_series.add(time(), speed);
+ kalman_accel_series.add(time(), acceleration);
+ }
+
+ AltosTimeSeries thrust_series;
+
+ public static final String thrust_name = "Thrust";
+
+ public void set_thrust(double N) {
+ if (thrust_series == null)
+ thrust_series = add_series(thrust_name, AltosConvert.force);
+ thrust_series.add(time(), N);
+ }
+
+ AltosTimeSeries temperature_series;
+
+ public static final String temperature_name = "Temperature";
+
public void set_temperature(double deg_c) {
+ if (temperature_series == null)
+ temperature_series = add_series(temperature_name, AltosConvert.temperature);
+ temperature_series.add(time(), deg_c);
}
- public void set_battery_voltage(double volts) {
+ AltosTimeSeries battery_voltage_series;
+
+ public static final String battery_voltage_name = "Battery Voltage";
+
+ public void set_battery_voltage(double volts) {
+ if (volts == AltosLib.MISSING)
+ return;
+ if (battery_voltage_series == null)
+ battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
+ battery_voltage_series.add(time(), volts);
}
- public void set_apogee_voltage(double volts) {
+ AltosTimeSeries apogee_voltage_series;
+
+ public static final String apogee_voltage_name = "Apogee Voltage";
+
+ public void set_apogee_voltage(double volts) {
+ if (volts == AltosLib.MISSING)
+ return;
+ if (apogee_voltage_series == null)
+ apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
+ apogee_voltage_series.add(time(), volts);
}
- public void set_main_voltage(double volts) {
+ AltosTimeSeries main_voltage_series;
+
+ public static final String main_voltage_name = "Main Voltage";
+
+ public void set_main_voltage(double volts) {
+ if (volts == AltosLib.MISSING)
+ return;
+ if (main_voltage_series == null)
+ main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
+ main_voltage_series.add(time(), volts);
}
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;
+ public ArrayList<AltosGPSTimeValue> gps_series;
+
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_altitude_name = "GPS Altitude";
+ public static final String gps_height_name = "GPS Height";
+ public static final String gps_ground_speed_name = "GPS Ground Speed";
+ 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 void set_temp_gps() {
- if (sats_in_view == null) {
- sats_in_view = add_series("Satellites in view", null);
- sats_in_soln = add_series("Satellites in solution", null);
- gps_altitude = add_series("GPS Altitude", AltosConvert.height);
- gps_ground_speed = add_series("GPS Ground Speed", AltosConvert.speed);
- gps_ascent_rate = add_series("GPS Ascent Rate", AltosConvert.speed);
- gps_course = add_series("GPS Course", null);
- gps_speed = add_series("GPS Speed", null);
- }
-
- /* XXX capture GPS data */
- super.set_temp_gps();
- }
+ public void set_gps(AltosGPS gps) {
+ if (gps_series == null)
+ gps_series = new ArrayList<AltosGPSTimeValue>();
+ gps_series.add(new AltosGPSTimeValue(time(), gps));
- public boolean gps_pending() {
- return temp_gps != null;
- }
-
- public AltosGPS make_temp_gps(boolean sats) {
- if (temp_gps == null) {
- temp_gps = new AltosGPS();
+ if (sats_in_view == null) {
+ sats_in_view = add_series(sats_in_view_name, 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 (sats) {
- if (tick != temp_gps_sat_tick)
- temp_gps.cc_gps_sat = null;
- temp_gps_sat_tick = tick;
+ if (gps.cc_gps_sat != null)
+ sats_in_view.add(time(), gps.cc_gps_sat.length);
+ if (gps.locked) {
+ sats_in_soln.add(time(), gps.nsat);
+ 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 (gps.ground_speed != AltosLib.MISSING)
+ gps_ground_speed.add(time(), gps.ground_speed);
+ if (gps.climb_rate != AltosLib.MISSING)
+ gps_ascent_rate.add(time(), gps.climb_rate);
+ if (gps.course != AltosLib.MISSING)
+ gps_course.add(time(), gps.course);
+ if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING)
+ gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
+ gps.climb_rate * gps.climb_rate));
}
- return temp_gps;
}
- public void set_ground_pressure(double ground_pressure) {
+ public static final String accel_across_name = "Accel Across";
+ public static final String accel_along_name = "Accel Along";
+ public static final String accel_through_name = "Accel Through";
+
+ public void set_accel(double along, double across, double through) {
}
public void set_accel_ground(double along, double across, double through) {
}
- public void set_gyro_zero(double roll, double pitch, double yaw) {
+ public void set_gyro(double roll, double pitch, double yaw) {
}
- public void set_ms5607(int pres_val, int temp_val) {
- if (ms5607 != null) {
- ms5607.set(pres_val, temp_val);
-
- set_pressure(ms5607.pa);
- set_temperature(ms5607.cc / 100.0);
- }
+ public void set_mag(double along, double across, double through) {
}
- public void check_imu_wrap(AltosIMU imu) {
- }
+ public void set_orient(double new_orient) { }
- public void set_imu(AltosIMU imu) {
+ public void set_pyro_voltage(double volts) {
}
- public void set_mag(AltosMag mag) {
+ public void set_ignitor_voltage(double[] voltage) {
}
- public void set_pyro_voltage(double volts) {
+ public void set_pyro_fired(int pyro_mask) {
}
- public void set_ignitor_voltage(double[] voltage) {
+ public void set_companion(AltosCompanion companion) {
}
- public void set_pyro_fired(int pyro_mask) {
+ public void fill_in() {
+ System.out.printf("fill in %s\n", this.toString());
+ compute_speed();
+ compute_accel();
+ if (cal_data.ground_altitude != AltosLib.MISSING)
+ compute_height(cal_data.ground_altitude);
}
public void init() {
- flight = AltosLib.MISSING;
- tick = AltosLib.MISSING;
- boost_tick = AltosLib.MISSING;
- temp_gps_sat_tick = AltosLib.MISSING;
+ time = AltosLib.MISSING;
series = new ArrayList<AltosTimeSeries>();
}
- public void copy(AltosFlightSeries old) {
- super.copy(old);
- }
-
public AltosTimeSeries[] series() {
+ fill_in();
return series.toArray(new AltosTimeSeries[0]);
}
- public AltosFlightSeries() {
+ public AltosFlightSeries(AltosCalData cal_data) {
+ super(cal_data);
+ System.out.printf("new flight series %s\n", this.toString());
init();
}
}
projects / fw / altos / blobdiff