* General Public License for more details.
*/
-package org.altusmetrum.altoslib_13;
+package org.altusmetrum.altoslib_14;
import java.util.*;
}
private void compute_height() {
- double ground_altitude = cal_data().ground_altitude;
- 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);
+ if (height_series == null) {
+ double ground_altitude = cal_data().ground_altitude;
+ if (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);
+ } else if (speed_series != null) {
+ height_series = add_series(height_name, AltosConvert.height);
+ speed_series.integrate(height_series);
+ }
}
if (gps_height == null && cal_data().gps_pad != null && cal_data().gps_pad.alt != AltosLib.MISSING && gps_altitude != null) {
else
accel_series.integrate(temp_series);
+ AltosTimeSeries clip_series = make_series(speed_name, AltosConvert.speed);
+
+ temp_series.clip(clip_series, 0, Double.POSITIVE_INFINITY);
+
accel_speed_series = make_series(speed_name, AltosConvert.speed);
- temp_series.filter(accel_speed_series, 0.1);
+ clip_series.filter(accel_speed_series, 0.1);
}
if (alt_speed_series != null && accel_speed_series != null) {
}
public AltosTimeSeries orient_series;
+ public AltosTimeSeries azimuth_series;
public static final String orient_name = "Tilt Angle";
+ public static final String azimuth_name = "Azimuth Angle";
private void compute_orient() {
if (cal_data.accel_zero_across == AltosLib.MISSING)
return;
+ if (cal_data.gyro_zero_roll == AltosLib.MISSING)
+ return;
+
AltosRotation rotation = new AltosRotation(accel_ground_across,
accel_ground_through,
accel_ground_along,
orient_series = add_series(orient_name, AltosConvert.orient);
orient_series.add(ground_time, rotation.tilt());
+ azimuth_series = add_series(azimuth_name, AltosConvert.orient);
+ azimuth_series.add(ground_time, rotation.azimuth());
+
for (AltosTimeValue roll_v : gyro_roll) {
double time = roll_v.time;
double dt = time - prev_time;
rotation.rotate(pitch, yaw, roll);
orient_series.add(time, rotation.tilt());
+ azimuth_series.add(time, rotation.azimuth());
}
prev_time = time;
}
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) {
- super.set_gps(gps);
+ public void set_gps(AltosGPS gps, boolean new_location, boolean new_sats) {
+ super.set_gps(gps, new_location, new_sats);
+ AltosCalData cal_data = cal_data();
if (gps_series == null)
gps_series = new ArrayList<AltosGPSTimeValue>();
gps_series.add(new AltosGPSTimeValue(time(), gps));
- if (sats_in_soln == null) {
- sats_in_soln = add_series(sats_in_soln_name, null);
- }
- 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_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.alt != AltosLib.MISSING) {
- if (gps_altitude == null)
- gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
- gps_altitude.add(time(), gps.alt);
+ if (new_location) {
+ if (sats_in_soln == null) {
+ sats_in_soln = add_series(sats_in_soln_name, null);
}
- 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);
+ 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_pdop.add(time(), gps.pdop);
}
- 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.hdop != AltosLib.MISSING) {
+ if (gps_hdop == null)
+ gps_hdop = add_series(gps_hdop_name, null);
+ gps_hdop.add(time(), gps.hdop);
}
- 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.vdop != AltosLib.MISSING) {
+ if (gps_vdop == null)
+ gps_vdop = add_series(gps_vdop_name, null);
+ gps_vdop.add(time(), gps.vdop);
}
- 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.locked) {
+ 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 (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_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 == 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_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)
- sats_in_view = add_series(sats_in_view_name, null);
- sats_in_view.add(time(), gps.cc_gps_sat.length);
+ if (new_sats) {
+ 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 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";
+ public static final String mag_total_name = "Magnetic Field Strength";
+ public static final String compass_name = "Compass";
- public AltosTimeSeries mag_along, mag_across, mag_through;
+ public AltosTimeSeries mag_along, mag_across, mag_through, mag_total, compass;
public void set_accel(double along, double across, double through) {
if (accel_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_total = add_series(mag_total_name, AltosConvert.magnetic_field);
+ compass = add_series(compass_name, AltosConvert.orient);
}
mag_along.add(time(), along);
mag_across.add(time(), across);
mag_through.add(time(), through);
+ mag_total.add(time(), Math.sqrt(along * along + across * across + through *through));
+ compass.add(time(), Math.atan2(across, through) * 180 / Math.PI);
}
public void set_orient(double orient) {
public void set_companion(AltosCompanion companion) {
}
+ public static final String motor_pressure_name = "Motor Pressure";
+
+ public AltosTimeSeries motor_pressure_series;
+
+ public void set_motor_pressure(double motor_pressure) {
+ if (motor_pressure_series == null)
+ motor_pressure_series = add_series(motor_pressure_name, AltosConvert.pressure);
+ motor_pressure_series.add(time(), motor_pressure);
+ }
+
public void finish() {
compute_orient();
if (speed_series == null) {
projects / fw / altos / blobdiff