altosui: Support MM telemetry packets

[fw/altos] / altoslib / AltosRecordMM.java

diff --git a/altoslib/AltosRecordMM.java b/altoslib/AltosRecordMM.java
new file mode 100644 (file)
index 0000000..8b3d745
--- /dev/null
+++ b/altoslib/AltosRecordMM.java
@@ -0,0 +1,186 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+public class AltosRecordMM extends AltosRecord {
+
+       public int      accel;
+       public int      pres;
+       public int      temp;
+       
+       public int      v_batt;
+       public int      v_pyro;
+       public int      sense[];
+
+       public int      ground_accel;
+       public int      ground_pres;
+       public int      accel_plus_g;
+       public int      accel_minus_g;
+
+       public int      flight_accel;
+       public int      flight_vel;
+       public int      flight_pres;
+
+       public final static int num_sense = 6;
+
+       public AltosIMU imu;
+       public AltosMag mag;
+
+       static double adc(int raw) {
+               return raw / 4095.0;
+       }
+
+       public double raw_pressure() {
+               if (pres != MISSING)
+                       return pres / 100.0;
+               return MISSING;
+       }
+
+       public double filtered_pressure() {
+               return raw_pressure();
+       }
+
+       public double ground_pressure() {
+               if (ground_pres != MISSING)
+                       return ground_pres / 100.0;
+               return MISSING;
+       }
+
+       public double battery_voltage() {
+               if (v_batt != MISSING)
+                       return 3.3 * adc(v_batt) * 27.0 / (15.0 + 27.0);
+               return MISSING;
+       }
+
+       static double pyro(int raw) {
+               if (raw != MISSING)
+                       return 3.3 * adc(raw) * 27.0 / (100.0 + 27.0);
+               return MISSING;
+       }
+
+       public double main_voltage() {
+               return pyro(sense[1]);
+       }
+
+       public double drogue_voltage() {
+               return pyro(sense[0]);
+       }
+
+       public double temperature() {
+               if (temp != MISSING)
+                       return temp / 100.0;
+               return MISSING;
+       }
+       
+       public AltosIMU imu() { return imu; }
+
+       public AltosMag mag() { return mag; }
+
+       double accel_counts_per_mss() {
+               double  counts_per_g = Math.abs(accel_minus_g - accel_plus_g) / 2;
+
+               return counts_per_g / 9.80665;
+       }
+
+       public double acceleration() {
+               System.out.printf("MM record acceleration %g ground_accel %d accel %d accel_minus_g %d accel_plus_g %d\n",
+                                 acceleration, ground_accel, accel, accel_minus_g, accel_plus_g);
+               if (acceleration != MISSING)
+                       return acceleration;
+
+               if (ground_accel == MISSING || accel == MISSING)
+                       return MISSING;
+
+               if (accel_minus_g == MISSING || accel_plus_g == MISSING)
+                       return MISSING;
+
+               return (ground_accel - accel) / accel_counts_per_mss();
+       }
+
+       public double accel_speed() {
+               return speed;
+       }
+
+       public void copy (AltosRecordMM old) {
+               super.copy(old);
+
+               accel = old.accel;
+               pres = old.pres;
+               temp = old.temp;
+
+               v_batt = old.v_batt;
+               v_pyro = old.v_pyro;
+               sense = new int[num_sense];
+               
+               for (int i = 0; i < num_sense; i++)
+                       sense[i] = old.sense[i];
+
+               ground_accel = old.ground_accel;
+               ground_pres = old.ground_pres;
+               accel_plus_g = old.accel_plus_g;
+               accel_minus_g = old.accel_minus_g;
+               
+               flight_accel = old.flight_accel;
+               flight_vel = old.flight_vel;
+               flight_pres = old.flight_pres;
+
+               imu = old.imu;
+               mag = old.mag;
+       }
+
+       public AltosRecordMM clone() {
+               AltosRecordMM n = (AltosRecordMM) super.clone();
+               n.copy(this);
+               return n;
+       }
+
+       void make_missing() {
+
+               accel = MISSING;
+               pres = MISSING;
+               temp = MISSING;
+
+               v_batt = MISSING;
+               v_pyro = MISSING;
+               sense = new int[num_sense];
+               for (int i = 0; i < num_sense; i++)
+                       sense[i] = MISSING;
+
+               ground_accel = MISSING;
+               ground_pres = MISSING;
+               accel_plus_g = MISSING;
+               accel_minus_g = MISSING;
+
+               flight_accel = 0;
+               flight_vel = 0;
+               flight_pres = 0;
+
+               imu = new AltosIMU();
+               mag = new AltosMag();
+       }
+
+       public AltosRecordMM(AltosRecord old) {
+               super.copy(old);
+               make_missing();
+       }
+
+       public AltosRecordMM() {
+               super();
+               make_missing();
+       }
+}