* Track flight state from telemetry or eeprom data stream
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_11;
-public class AltosState implements Cloneable {
- public AltosRecord record;
+import java.io.*;
+
+public class AltosState implements Cloneable, AltosHashable {
public static final int set_position = 1;
public static final int set_gps = 2;
public int set;
- static final double filter_len = 0.5;
+ static final double filter_len = 2.0;
+ static final double ascent_filter_len = 0.5;
+ static final double descent_filter_len = 5.0;
/* derived data */
private int prev_tick;
public int boost_tick;
- class AltosValue {
- private double value;
- private double prev_value;
+ class AltosValue implements AltosHashable {
+ double value;
+ double prev_value;
private double max_value;
private double set_time;
private double prev_set_time;
- private double max_rate = 1000.0;
+
+ boolean can_max() { return true; }
void set(double new_value, double time) {
- if (new_value != AltosRecord.MISSING) {
+ if (new_value != AltosLib.MISSING) {
value = new_value;
- if (max_value == AltosRecord.MISSING || value > max_value) {
+ if (can_max() && (max_value == AltosLib.MISSING || value > max_value))
max_value = value;
- }
set_time = time;
}
}
+ void set_filtered(double new_value, double time) {
+ if (prev_value != AltosLib.MISSING) {
+ double f = 1/Math.exp((time - prev_set_time) / filter_len);
+ new_value = f * new_value + (1-f) * prev_value;
+ }
+ set(new_value, time);
+ }
+
double value() {
return value;
}
}
double change() {
- if (value != AltosRecord.MISSING && prev_value != AltosRecord.MISSING)
+ if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
return value - prev_value;
- return AltosRecord.MISSING;
+ return AltosLib.MISSING;
}
double rate() {
double c = change();
double t = set_time - prev_set_time;
- if (c != AltosRecord.MISSING && t != 0)
+ if (c != AltosLib.MISSING && t != 0)
return c / t;
- return AltosRecord.MISSING;
+ return AltosLib.MISSING;
}
double integrate() {
- if (value == AltosRecord.MISSING)
- return AltosRecord.MISSING;
- if (prev_value == AltosRecord.MISSING)
- return AltosRecord.MISSING;
+ if (value == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ if (prev_value == AltosLib.MISSING)
+ return AltosLib.MISSING;
return (value + prev_value) / 2 * (set_time - prev_set_time);
}
}
void set_derivative(AltosValue in) {
- double new_value = in.rate();
-
- if (new_value == AltosRecord.MISSING)
+ double n = in.rate();
+
+ if (n == AltosLib.MISSING)
return;
+ double p = prev_value;
+ double pt = prev_set_time;
+
+ if (p == AltosLib.MISSING) {
+ p = 0;
+ pt = in.time() - 0.01;
+ }
+
/* Clip changes to reduce noise */
- if (prev_value != AltosRecord.MISSING) {
- double ddt = in.time() - prev_set_time;
- double ddv = (new_value - prev_value) / ddt;
-
- /* 100gs */
- if (Math.abs(ddv) > 1000) {
- if (new_value > prev_value)
- new_value = prev_value + ddt * 1000;
- else
- new_value = prev_value - ddt * 1000;
- }
+ double ddt = in.time() - pt;
+ double ddv = (n - p) / ddt;
+
+ final double max = 100000;
- double f = 1/Math.exp(ddt/ filter_len);
- new_value = prev_value * f + new_value * (1-f);
+ /* 100gs */
+ if (Math.abs(ddv) > max) {
+ if (n > p)
+ n = p + ddt * max;
+ else
+ n = p - ddt * max;
}
- set(new_value, in.time());
+ double filter_len;
+
+ if (ascent)
+ filter_len = ascent_filter_len;
+ else
+ filter_len = descent_filter_len;
+
+ double f = 1/Math.exp(ddt/ filter_len);
+ n = p * f + n * (1-f);
+
+ set(n, in.time());
}
void set_integral(AltosValue in) {
double change = in.integrate();
- if (change != AltosRecord.MISSING)
- set(prev_value + change, in.time());
+ if (change != AltosLib.MISSING) {
+ double prev = prev_value;
+ if (prev == AltosLib.MISSING)
+ prev = 0;
+ set(prev + change, in.time());
+ }
}
void copy(AltosValue old) {
max_value = old.max_value;
}
+ void finish_update() {
+ prev_value = value;
+ prev_set_time = set_time;
+ }
+
+ public AltosHashSet hashSet() {
+ AltosHashSet h = new AltosHashSet();
+
+ h.putDouble("value", value);
+ h.putDouble("prev_value", prev_value);
+ h.putDouble("max_value", max_value);
+ h.putDouble("set_time", set_time);
+ h.putDouble("prev_set_time", prev_set_time);
+ return h;
+ }
+
+ AltosValue(AltosHashSet h) {
+ this();
+ if (h != null) {
+ value = h.getDouble("value", value);
+ prev_value = h.getDouble("prev_value", prev_value);
+ max_value = h.getDouble("max_value", max_value);
+ set_time = h.getDouble("set_time", 0);
+ prev_set_time = h.getDouble("prev_set_time", 0);
+ }
+ }
+
AltosValue() {
- value = AltosRecord.MISSING;
- prev_value = AltosRecord.MISSING;
- max_value = AltosRecord.MISSING;
+ value = AltosLib.MISSING;
+ prev_value = AltosLib.MISSING;
+ max_value = AltosLib.MISSING;
}
+
}
- class AltosCValue {
- AltosValue measured;
- AltosValue computed;
+ AltosValue AltosValue_fromHashSet(AltosHashSet h, AltosValue def) {
+ if (h == null)
+ return def;
+ return new AltosValue(h);
+ }
+
+ class AltosCValue implements AltosHashable {
+
+ class AltosIValue extends AltosValue implements AltosHashable {
+ boolean can_max() {
+ return c_can_max();
+ }
+
+ AltosIValue() {
+ super();
+ }
+
+ AltosIValue(AltosHashSet h) {
+ super(h);
+ }
+ };
+
+ public AltosIValue measured;
+ public AltosIValue computed;
+
+ boolean can_max() { return true; }
+
+ boolean c_can_max() { return can_max(); }
double value() {
double v = measured.value();
- if (v != AltosRecord.MISSING)
+ if (v != AltosLib.MISSING)
return v;
return computed.value();
}
boolean is_measured() {
- return measured.value() != AltosRecord.MISSING;
+ return measured.value() != AltosLib.MISSING;
}
double max() {
double m = measured.max();
- if (m != AltosRecord.MISSING)
+ if (m != AltosLib.MISSING)
return m;
return computed.max();
}
double prev_value() {
- if (measured.value != AltosRecord.MISSING && measured.prev_value != AltosRecord.MISSING)
+ if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
return measured.prev_value;
return computed.prev_value;
}
AltosValue altos_value() {
- if (measured.value() != AltosRecord.MISSING)
+ if (measured.value() != AltosLib.MISSING)
return measured;
return computed;
}
double change() {
double c = measured.change();
- if (c == AltosRecord.MISSING)
+ if (c == AltosLib.MISSING)
c = computed.change();
return c;
}
double rate() {
double r = measured.rate();
- if (r == AltosRecord.MISSING)
+ if (r == AltosLib.MISSING)
r = computed.rate();
return r;
}
void set_integral(AltosValue in) {
computed.set_integral(in);
}
-
+
void set_integral(AltosCValue in) {
set_integral(in.altos_value());
}
-
+
void copy(AltosCValue old) {
measured.copy(old.measured);
computed.copy(old.computed);
}
+ void finish_update() {
+ measured.finish_update();
+ computed.finish_update();
+ }
+
AltosCValue() {
- measured = new AltosValue();
- computed = new AltosValue();
+ measured = new AltosIValue();
+ computed = new AltosIValue();
+ }
+
+
+ public AltosHashSet hashSet() {
+ AltosHashSet h = new AltosHashSet();
+
+ h.putHashable("measured", measured);
+ h.putHashable("computed", computed);
+ return h;
+ }
+
+ AltosCValue(AltosHashSet h) {
+ measured = new AltosIValue(h.getHash("measured"));
+ computed = new AltosIValue(h.getHash("computed"));
}
}
- public int state;
+ AltosCValue AltosCValue_fromHashSet(AltosHashSet h, AltosCValue def) {
+ if (h == null)
+ return def;
+ return new AltosCValue(h);
+ }
+
+ private int state;
public int flight;
public int serial;
+ public int altitude_32;
+ public int receiver_serial;
public boolean landed;
public boolean ascent; /* going up? */
public boolean boost; /* under power */
public int flight_log_max;
private double pressure_to_altitude(double p) {
- if (p == AltosRecord.MISSING)
- return AltosRecord.MISSING;
+ if (p == AltosLib.MISSING)
+ return AltosLib.MISSING;
return AltosConvert.pressure_to_altitude(p);
}
ground_altitude.set_measured(a, time);
}
- class AltosGroundPressure extends AltosValue {
- void set(double p, double time) {
- super.set(p, time);
+ class AltosGpsGroundAltitude extends AltosValue {
+ void set(double a, double t) {
+ super.set(a, t);
+ pad_alt = value();
+ gps_altitude.set_gps_height();
+ }
+
+ void set_filtered(double a, double t) {
+ super.set_filtered(a, t);
+ pad_alt = value();
+ gps_altitude.set_gps_height();
+ }
+
+ AltosGpsGroundAltitude() {
+ super();
+ }
+
+ AltosGpsGroundAltitude (AltosHashSet h) {
+ super(h);
+ }
+ }
+
+ AltosGpsGroundAltitude AltosGpsGroundAltitude_fromHashSet(AltosHashSet h, AltosGpsGroundAltitude def) {
+ if (h == null) return def;
+ return new AltosGpsGroundAltitude(h);
+ }
+
+ private AltosGpsGroundAltitude gps_ground_altitude;
+
+ public double gps_ground_altitude() {
+ return gps_ground_altitude.value();
+ }
+
+ public void set_gps_ground_altitude(double a) {
+ gps_ground_altitude.set(a, time);
+ }
+
+ class AltosGroundPressure extends AltosCValue {
+ void set_filtered(double p, double time) {
+ computed.set_filtered(p, time);
+ if (!is_measured())
+ ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
+ }
+
+ void set_measured(double p, double time) {
+ super.set_measured(p, time);
ground_altitude.set_computed(pressure_to_altitude(p), time);
}
+
+ AltosGroundPressure () {
+ super();
+ }
+
+ AltosGroundPressure (AltosHashSet h) {
+ super(h);
+ }
+ }
+
+ AltosGroundPressure AltosGroundPressure_fromHashSet(AltosHashSet h, AltosGroundPressure def) {
+ if (h == null) return def;
+ return new AltosGroundPressure(h);
}
private AltosGroundPressure ground_pressure;
-
+
public double ground_pressure() {
return ground_pressure.value();
}
public void set_ground_pressure (double pressure) {
- ground_pressure.set(pressure, time);
+ ground_pressure.set_measured(pressure, time);
}
- class AltosAltitude extends AltosCValue {
+ class AltosAltitude extends AltosCValue implements AltosHashable {
private void set_speed(AltosValue v) {
if (!acceleration.is_measured() || !ascent)
set_speed(measured);
set |= set_position;
}
+
+ AltosAltitude() {
+ super();
+ }
+
+ AltosAltitude (AltosHashSet h) {
+ super(h);
+ }
+ }
+
+ AltosAltitude AltosAltitude_fromHashSet(AltosHashSet h, AltosAltitude def) {
+ if (h == null) return def;
+ return new AltosAltitude(h);
}
private AltosAltitude altitude;
+ class AltosGpsAltitude extends AltosValue implements AltosHashable {
+
+ private void set_gps_height() {
+ double a = value();
+ double g = gps_ground_altitude.value();
+
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+ gps_height = a - g;
+ else
+ gps_height = AltosLib.MISSING;
+ }
+
+ void set(double a, double t) {
+ super.set(a, t);
+ set_gps_height();
+ }
+
+ AltosGpsAltitude() {
+ super();
+ }
+
+ AltosGpsAltitude (AltosHashSet h) {
+ super(h);
+ }
+ }
+
+ AltosGpsAltitude AltosGpsAltitude_fromHashSet(AltosHashSet h, AltosGpsAltitude def) {
+ if (h == null) return def;
+ return new AltosGpsAltitude(h);
+ }
+
+ private AltosGpsAltitude gps_altitude;
+
+ private AltosValue gps_ground_speed;
+ private AltosValue gps_ascent_rate;
+ private AltosValue gps_course;
+ private AltosValue gps_speed;
+
public double altitude() {
double a = altitude.value();
- if (a != AltosRecord.MISSING)
+ if (a != AltosLib.MISSING)
return a;
- if (gps != null)
- return gps.alt;
- return AltosRecord.MISSING;
+ return gps_altitude.value();
}
public double max_altitude() {
double a = altitude.max();
- if (a != AltosRecord.MISSING)
+ if (a != AltosLib.MISSING)
return a;
- return AltosRecord.MISSING;
+ return gps_altitude.max();
}
public void set_altitude(double new_altitude) {
altitude.set_measured(new_altitude, time);
}
+ public double gps_altitude() {
+ return gps_altitude.value();
+ }
+
+ public double max_gps_altitude() {
+ return gps_altitude.max();
+ }
+
+ public void set_gps_altitude(double new_gps_altitude) {
+ gps_altitude.set(new_gps_altitude, time);
+ }
+
+ public double gps_ground_speed() {
+ return gps_ground_speed.value();
+ }
+
+ public double max_gps_ground_speed() {
+ return gps_ground_speed.max();
+ }
+
+ public double gps_ascent_rate() {
+ return gps_ascent_rate.value();
+ }
+
+ public double max_gps_ascent_rate() {
+ return gps_ascent_rate.max();
+ }
+
+ public double gps_course() {
+ return gps_course.value();
+ }
+
+ public double gps_speed() {
+ return gps_speed.value();
+ }
+
+ public double max_gps_speed() {
+ return gps_speed.max();
+ }
+
class AltosPressure extends AltosValue {
void set(double p, double time) {
super.set(p, time);
- altitude.set_computed(pressure_to_altitude(p), time);
+ if (state == AltosLib.ao_flight_pad)
+ ground_pressure.set_filtered(p, time);
+ double a = pressure_to_altitude(p);
+ altitude.set_computed(a, time);
}
+
+ AltosPressure() {
+ super();
+ }
+
+ AltosPressure (AltosHashSet h) {
+ super(h);
+ }
+ }
+
+ AltosPressure AltosPressure_fromHashSet(AltosHashSet h, AltosPressure def) {
+ if (h == null) return def;
+ return new AltosPressure(h);
}
private AltosPressure pressure;
pressure.set(p, time);
}
+ public double baro_height() {
+ double a = altitude();
+ double g = ground_altitude();
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+ return a - g;
+ return AltosLib.MISSING;
+ }
+
public double height() {
double k = kalman_height.value();
- if (k != AltosRecord.MISSING)
+ if (k != AltosLib.MISSING)
return k;
- double a = altitude();
- double g = ground_altitude();
- if (a != AltosRecord.MISSING && g != AltosRecord.MISSING)
- return a - g;
- return AltosRecord.MISSING;
+ double b = baro_height();
+ if (b != AltosLib.MISSING)
+ return b;
+
+ return gps_height();
}
public double max_height() {
double k = kalman_height.max();
- if (k != AltosRecord.MISSING)
+ if (k != AltosLib.MISSING)
return k;
double a = altitude.max();
double g = ground_altitude();
- if (a != AltosRecord.MISSING && g != AltosRecord.MISSING)
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+ return a - g;
+ return max_gps_height();
+ }
+
+ public double gps_height() {
+ double a = gps_altitude();
+ double g = gps_ground_altitude();
+
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
return a - g;
- return AltosRecord.MISSING;
+ return AltosLib.MISSING;
}
- class AltosSpeed extends AltosCValue {
-
+ public double max_gps_height() {
+ double a = gps_altitude.max();
+ double g = gps_ground_altitude();
+
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+ return a - g;
+ return AltosLib.MISSING;
+ }
+
+ class AltosSpeed extends AltosCValue implements AltosHashable {
+
+ boolean can_max() {
+ return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
+ }
+
void set_accel() {
acceleration.set_derivative(this);
}
super.set_measured(new_value, time);
set_accel();
}
+
+ AltosSpeed() {
+ super();
+ }
+
+ AltosSpeed (AltosHashSet h) {
+ super(h);
+ }
+ }
+
+ AltosSpeed AltosSpeed_fromHashSet(AltosHashSet h, AltosSpeed def) {
+ if (h == null) return def;
+ return new AltosSpeed(h);
}
private AltosSpeed speed;
public double speed() {
- return speed.value();
+ double v = kalman_speed.value();
+ if (v != AltosLib.MISSING)
+ return v;
+ v = speed.value();
+ if (v != AltosLib.MISSING)
+ return v;
+ v = gps_speed();
+ if (v != AltosLib.MISSING)
+ return v;
+ return AltosLib.MISSING;
}
public double max_speed() {
- return speed.max();
- }
+ double v = kalman_speed.max();
+ if (v != AltosLib.MISSING)
+ return v;
+ v = speed.max();
+ if (v != AltosLib.MISSING)
+ return v;
+ v = max_gps_speed();
+ if (v != AltosLib.MISSING)
+ return v;
+ return AltosLib.MISSING;
+ }
+
+ class AltosAccel extends AltosCValue implements AltosHashable {
+
+ boolean can_max() {
+ return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
+ }
- class AltosAccel extends AltosCValue {
void set_measured(double a, double time) {
super.set_measured(a, time);
if (ascent)
speed.set_integral(this.measured);
}
+
+ AltosAccel() {
+ super();
+ }
+
+ AltosAccel (AltosHashSet h) {
+ super(h);
+ }
+ }
+
+ AltosAccel AltosAccel_fromHashSet(AltosHashSet h, AltosAccel def) {
+ if (h == null) return def;
+ return new AltosAccel(h);
}
AltosAccel acceleration;
return acceleration.max();
}
+ public AltosCValue orient;
+
+ public void set_orient(double new_orient) {
+ orient.set_measured(new_orient, time);
+ }
+
+ public double orient() {
+ return orient.value();
+ }
+
+ public double max_orient() {
+ return orient.max();
+ }
+
public AltosValue kalman_height, kalman_speed, kalman_acceleration;
public void set_kalman(double height, double speed, double acceleration) {
public AltosGPS gps;
public AltosGPS temp_gps;
- public boolean temp_gps_clear_sats_pending;
+ public int temp_gps_sat_tick;
public boolean gps_pending;
public int gps_sequence;
public double ground_accel_avg;
public int log_format;
+ public String product;
public AltosMs5607 baro;
- public AltosRecordCompanion companion;
+ public AltosCompanion companion;
+
+ public int pyro_fired;
public void set_npad(int npad) {
this.npad = npad;
}
public void init() {
- record = null;
-
set = 0;
received_time = System.currentTimeMillis();
- time = AltosRecord.MISSING;
- time_change = AltosRecord.MISSING;
- prev_time = AltosRecord.MISSING;
- tick = AltosRecord.MISSING;
- prev_tick = AltosRecord.MISSING;
- boost_tick = AltosRecord.MISSING;
+ time = AltosLib.MISSING;
+ time_change = AltosLib.MISSING;
+ prev_time = AltosLib.MISSING;
+ tick = AltosLib.MISSING;
+ prev_tick = AltosLib.MISSING;
+ boost_tick = AltosLib.MISSING;
state = AltosLib.ao_flight_invalid;
- flight = AltosRecord.MISSING;
+ flight = AltosLib.MISSING;
landed = false;
boost = false;
- rssi = AltosRecord.MISSING;
+ rssi = AltosLib.MISSING;
status = 0;
- device_type = AltosRecord.MISSING;
- config_major = AltosRecord.MISSING;
- config_minor = AltosRecord.MISSING;
- apogee_delay = AltosRecord.MISSING;
- main_deploy = AltosRecord.MISSING;
- flight_log_max = AltosRecord.MISSING;
+ device_type = AltosLib.MISSING;
+ config_major = AltosLib.MISSING;
+ config_minor = AltosLib.MISSING;
+ apogee_delay = AltosLib.MISSING;
+ main_deploy = AltosLib.MISSING;
+ flight_log_max = AltosLib.MISSING;
ground_altitude = new AltosCValue();
ground_pressure = new AltosGroundPressure();
pressure = new AltosPressure();
speed = new AltosSpeed();
acceleration = new AltosAccel();
+ orient = new AltosCValue();
- temperature = AltosRecord.MISSING;
- battery_voltage = AltosRecord.MISSING;
- pyro_voltage = AltosRecord.MISSING;
- apogee_voltage = AltosRecord.MISSING;
- main_voltage = AltosRecord.MISSING;
+ temperature = AltosLib.MISSING;
+ battery_voltage = AltosLib.MISSING;
+ pyro_voltage = AltosLib.MISSING;
+ apogee_voltage = AltosLib.MISSING;
+ main_voltage = AltosLib.MISSING;
ignitor_voltage = null;
kalman_height = new AltosValue();
gps = null;
temp_gps = null;
- temp_gps_clear_sats_pending = false;
+ temp_gps_sat_tick = 0;
gps_sequence = 0;
gps_pending = false;
imu = null;
+ last_imu_time = AltosLib.MISSING;
+ rotation = null;
+ ground_rotation = null;
+
mag = null;
+ accel_zero_along = AltosLib.MISSING;
+ accel_zero_across = AltosLib.MISSING;
+ accel_zero_through = AltosLib.MISSING;
+
+ accel_ground_along = AltosLib.MISSING;
+ accel_ground_across = AltosLib.MISSING;
+ accel_ground_through = AltosLib.MISSING;
+
+ pad_orientation = AltosLib.MISSING;
+
+ gyro_zero_roll = AltosLib.MISSING;
+ gyro_zero_pitch = AltosLib.MISSING;
+ gyro_zero_yaw = AltosLib.MISSING;
set_npad(0);
ngps = 0;
from_pad = null;
- elevation = AltosRecord.MISSING;
- range = AltosRecord.MISSING;
- gps_height = AltosRecord.MISSING;
+ elevation = AltosLib.MISSING;
+ range = AltosLib.MISSING;
+ gps_height = AltosLib.MISSING;
- pad_lat = AltosRecord.MISSING;
- pad_lon = AltosRecord.MISSING;
- pad_alt = AltosRecord.MISSING;
+ pad_lat = AltosLib.MISSING;
+ pad_lon = AltosLib.MISSING;
+ pad_alt = AltosLib.MISSING;
- speak_tick = AltosRecord.MISSING;
- speak_altitude = AltosRecord.MISSING;
+ gps_altitude = new AltosGpsAltitude();
+ gps_ground_altitude = new AltosGpsGroundAltitude();
+ gps_ground_speed = new AltosValue();
+ gps_speed = new AltosValue();
+ gps_ascent_rate = new AltosValue();
+ gps_course = new AltosValue();
+
+ speak_tick = AltosLib.MISSING;
+ speak_altitude = AltosLib.MISSING;
callsign = null;
+ firmware_version = null;
- accel_plus_g = AltosRecord.MISSING;
- accel_minus_g = AltosRecord.MISSING;
- accel = AltosRecord.MISSING;
+ accel_plus_g = AltosLib.MISSING;
+ accel_minus_g = AltosLib.MISSING;
+ accel = AltosLib.MISSING;
- ground_accel = AltosRecord.MISSING;
- ground_accel_avg = AltosRecord.MISSING;
+ ground_accel = AltosLib.MISSING;
+ ground_accel_avg = AltosLib.MISSING;
- log_format = AltosRecord.MISSING;
- serial = AltosRecord.MISSING;
+ log_format = AltosLib.MISSING;
+ product = null;
+ serial = AltosLib.MISSING;
+ receiver_serial = AltosLib.MISSING;
+ altitude_32 = AltosLib.MISSING;
baro = null;
companion = null;
+
+ pyro_fired = 0;
}
- void copy(AltosState old) {
+ void finish_update() {
+ prev_tick = tick;
+
+ ground_altitude.finish_update();
+ altitude.finish_update();
+ pressure.finish_update();
+ speed.finish_update();
+ acceleration.finish_update();
+ orient.finish_update();
- record = null;
+ kalman_height.finish_update();
+ kalman_speed.finish_update();
+ kalman_acceleration.finish_update();
+ }
+
+ void copy(AltosState old) {
if (old == null) {
init();
received_time = old.received_time;
time = old.time;
- time_change = 0;
+ time_change = old.time_change;
+ prev_time = old.time;
+
tick = old.tick;
prev_tick = old.tick;
boost_tick = old.boost_tick;
apogee_delay = old.apogee_delay;
main_deploy = old.main_deploy;
flight_log_max = old.flight_log_max;
-
+
set = 0;
+ ground_pressure.copy(old.ground_pressure);
ground_altitude.copy(old.ground_altitude);
altitude.copy(old.altitude);
pressure.copy(old.pressure);
speed.copy(old.speed);
acceleration.copy(old.acceleration);
+ orient.copy(old.orient);
battery_voltage = old.battery_voltage;
pyro_voltage = old.pyro_voltage;
temp_gps = old.temp_gps.clone();
else
temp_gps = null;
- temp_gps_clear_sats_pending = old.temp_gps_clear_sats_pending;
+ temp_gps_sat_tick = old.temp_gps_sat_tick;
gps_sequence = old.gps_sequence;
gps_pending = old.gps_pending;
imu = old.imu.clone();
else
imu = null;
+ last_imu_time = old.last_imu_time;
+
+ if (old.rotation != null)
+ rotation = new AltosRotation (old.rotation);
+
+ if (old.ground_rotation != null) {
+ ground_rotation = new AltosRotation(old.ground_rotation);
+ }
+
+ accel_zero_along = old.accel_zero_along;
+ accel_zero_across = old.accel_zero_across;
+ accel_zero_through = old.accel_zero_through;
+
+ accel_ground_along = old.accel_ground_along;
+ accel_ground_across = old.accel_ground_across;
+ accel_ground_through = old.accel_ground_through;
+ pad_orientation = old.pad_orientation;
+
+ gyro_zero_roll = old.gyro_zero_roll;
+ gyro_zero_pitch = old.gyro_zero_pitch;
+ gyro_zero_yaw = old.gyro_zero_yaw;
if (old.mag != null)
mag = old.mag.clone();
range = old.range;
gps_height = old.gps_height;
+
+ gps_altitude.copy(old.gps_altitude);
+ gps_ground_altitude.copy(old.gps_ground_altitude);
+ gps_ground_speed.copy(old.gps_ground_speed);
+ gps_ascent_rate.copy(old.gps_ascent_rate);
+ gps_course.copy(old.gps_course);
+ gps_speed.copy(old.gps_speed);
+
pad_lat = old.pad_lat;
pad_lon = old.pad_lon;
pad_alt = old.pad_alt;
speak_altitude = old.speak_altitude;
callsign = old.callsign;
+ firmware_version = old.firmware_version;
accel_plus_g = old.accel_plus_g;
accel_minus_g = old.accel_minus_g;
ground_accel_avg = old.ground_accel_avg;
log_format = old.log_format;
+ product = old.product;
serial = old.serial;
+ receiver_serial = old.receiver_serial;
+ altitude_32 = old.altitude_32;
baro = old.baro;
companion = old.companion;
+
+ pyro_fired = old.pyro_fired;
}
-
+
void update_time() {
}
void update_gps() {
- elevation = 0;
- range = -1;
- gps_height = 0;
+ elevation = AltosLib.MISSING;
+ range = AltosLib.MISSING;
if (gps == null)
return;
if (gps.locked && gps.nsat >= 4) {
/* Track consecutive 'good' gps reports, waiting for 10 of them */
- if (state == AltosLib.ao_flight_pad) {
+ if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) {
set_npad(npad+1);
- if (pad_lat != AltosRecord.MISSING) {
+ if (pad_lat != AltosLib.MISSING && (npad < 10 || state == AltosLib.ao_flight_pad)) {
pad_lat = (pad_lat * 31 + gps.lat) / 32;
pad_lon = (pad_lon * 31 + gps.lon) / 32;
- pad_alt = (pad_alt * 31 + gps.alt) / 32;
+ gps_ground_altitude.set_filtered(gps.alt, time);
}
}
- if (pad_lat == AltosRecord.MISSING) {
+ if (pad_lat == AltosLib.MISSING) {
pad_lat = gps.lat;
pad_lon = gps.lon;
- pad_alt = gps.alt;
+ gps_ground_altitude.set(gps.alt, time);
}
+ gps_altitude.set(gps.alt, time);
+ if (gps.climb_rate != AltosLib.MISSING)
+ gps_ascent_rate.set(gps.climb_rate, time);
+ if (gps.ground_speed != AltosLib.MISSING)
+ gps_ground_speed.set(gps.ground_speed, time);
+ if (gps.climb_rate != AltosLib.MISSING && gps.ground_speed != AltosLib.MISSING)
+ gps_speed.set(Math.sqrt(gps.ground_speed * gps.ground_speed +
+ gps.climb_rate * gps.climb_rate), time);
+ if (gps.course != AltosLib.MISSING)
+ gps_course.set(gps.course, time);
}
if (gps.lat != 0 && gps.lon != 0 &&
- pad_lat != AltosRecord.MISSING &&
- pad_lon != AltosRecord.MISSING)
+ pad_lat != AltosLib.MISSING &&
+ pad_lon != AltosLib.MISSING)
{
double h = height();
- if (h == AltosRecord.MISSING)
+ if (h == AltosLib.MISSING)
h = 0;
from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
elevation = from_pad.elevation;
range = from_pad.range;
- gps_height = gps.alt - pad_alt;
}
}
public void set_tick(int new_tick) {
- if (new_tick != AltosRecord.MISSING) {
- if (prev_tick != AltosRecord.MISSING) {
- while (new_tick < prev_tick - 32767) {
+ if (new_tick != AltosLib.MISSING) {
+ if (prev_tick != AltosLib.MISSING) {
+ while (new_tick < prev_tick - 1000) {
new_tick += 65536;
}
}
tick = new_tick;
time = tick / 100.0;
+ time_change = time - prev_time;
}
}
public void set_boost_tick(int boost_tick) {
- if (boost_tick != AltosRecord.MISSING)
+ if (boost_tick != AltosLib.MISSING)
this.boost_tick = boost_tick;
}
return AltosLib.state_name(state);
}
+ public void set_product(String product) {
+ this.product = product;
+ }
+
public void set_state(int state) {
if (state != AltosLib.ao_flight_invalid) {
this.state = state;
state <= AltosLib.ao_flight_coast);
boost = (AltosLib.ao_flight_boost == state);
}
+ }
+ public int state() {
+ return state;
}
public void set_device_type(int device_type) {
this.device_type = device_type;
+ switch (device_type) {
+ case AltosLib.product_telegps:
+ this.state = AltosLib.ao_flight_stateless;
+ break;
+ }
}
- public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
- config_major = major;
- config_minor = minor;
+ public void set_log_format(int log_format) {
+ this.log_format = log_format;
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_TELEGPS:
+ this.state = AltosLib.ao_flight_stateless;
+ break;
+ }
+ }
+
+ public void set_flight_params(int apogee_delay, int main_deploy) {
this.apogee_delay = apogee_delay;
this.main_deploy = main_deploy;
+ }
+
+ public void set_config(int major, int minor, int flight_log_max) {
+ config_major = major;
+ config_minor = minor;
this.flight_log_max = flight_log_max;
}
firmware_version = version;
}
+ public int compare_version(String other_version) {
+ if (firmware_version == null)
+ return AltosLib.MISSING;
+ return AltosLib.compare_version(firmware_version, other_version);
+ }
+
+ private void re_init() {
+ int bt = boost_tick;
+ int rs = receiver_serial;
+ init();
+ boost_tick = bt;
+ receiver_serial = rs;
+ }
+
public void set_flight(int flight) {
/* When the flight changes, reset the state */
- if (flight != AltosRecord.MISSING) {
- if (this.flight != AltosRecord.MISSING &&
+ if (flight != AltosLib.MISSING) {
+ if (this.flight != AltosLib.MISSING &&
this.flight != flight) {
- init();
+ re_init();
}
this.flight = flight;
}
public void set_serial(int serial) {
/* When the serial changes, reset the state */
- if (serial != AltosRecord.MISSING) {
- if (this.serial != AltosRecord.MISSING &&
+ if (serial != AltosLib.MISSING) {
+ if (this.serial != AltosLib.MISSING &&
this.serial != serial) {
- init();
+ re_init();
}
this.serial = serial;
}
}
+ public void set_receiver_serial(int serial) {
+ if (serial != AltosLib.MISSING)
+ receiver_serial = serial;
+ }
+
+ public boolean altitude_32() {
+ return altitude_32 == 1;
+ }
+
+ public void set_altitude_32(int altitude_32) {
+ if (altitude_32 != AltosLib.MISSING)
+ this.altitude_32 = altitude_32;
+ }
+
public int rssi() {
- if (rssi == AltosRecord.MISSING)
+ if (rssi == AltosLib.MISSING)
return 0;
return rssi;
}
public void set_rssi(int rssi, int status) {
- if (rssi != AltosRecord.MISSING) {
+ if (rssi != AltosLib.MISSING) {
this.rssi = rssi;
this.status = status;
}
}
}
- public void make_baro() {
+
+ public double accel_zero_along;
+ public double accel_zero_across;
+ public double accel_zero_through;
+
+ public AltosRotation rotation;
+ public AltosRotation ground_rotation;
+
+ public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
+ if (zero_along != AltosLib.MISSING) {
+ accel_zero_along = zero_along;
+ accel_zero_across = zero_across;
+ accel_zero_through = zero_through;
+ }
+ }
+
+ public int pad_orientation;
+
+ public double accel_ground_along, accel_ground_across, accel_ground_through;
+
+ void update_pad_rotation() {
+ if (pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
+ rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - accel_zero_across),
+ AltosIMU.convert_accel(accel_ground_through - accel_zero_through),
+ AltosIMU.convert_accel(accel_ground_along - accel_zero_along),
+ pad_orientation);
+ ground_rotation = rotation;
+ orient.set_computed(rotation.tilt(), time);
+ }
+ }
+
+ public void set_accel_ground(double ground_along, double ground_across, double ground_through) {
+ accel_ground_along = ground_along;
+ accel_ground_across = ground_across;
+ accel_ground_through = ground_through;
+ update_pad_rotation();
+ }
+
+ public void set_pad_orientation(int pad_orientation) {
+ this.pad_orientation = pad_orientation;
+ update_pad_rotation();
+ }
+
+ public double gyro_zero_roll;
+ public double gyro_zero_pitch;
+ public double gyro_zero_yaw;
+
+ public void set_gyro_zero(double roll, double pitch, double yaw) {
+ if (roll != AltosLib.MISSING) {
+ gyro_zero_roll = roll;
+ gyro_zero_pitch = pitch;
+ gyro_zero_yaw = yaw;
+ }
+ }
+
+ public double last_imu_time;
+
+ private double radians(double degrees) {
+ if (degrees == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return degrees * Math.PI / 180.0;
+ }
+
+ private void update_orient() {
+ if (last_imu_time != AltosLib.MISSING) {
+ double t = time - last_imu_time;
+
+ double pitch = radians(gyro_pitch());
+ double yaw = radians(gyro_yaw());
+ double roll = radians(gyro_roll());
+
+ if (t > 0 & pitch != AltosLib.MISSING && rotation != null) {
+ rotation.rotate(t, pitch, yaw, roll);
+ orient.set_computed(rotation.tilt(), time);
+ }
+ }
+ last_imu_time = time;
+ }
+
+ public void set_imu(AltosIMU imu) {
+ if (imu != null)
+ imu = imu.clone();
+ this.imu = imu;
+ update_orient();
+ }
+
+ private double gyro_zero_overflow(double first) {
+ double v = first / 128.0;
+ if (v < 0)
+ v = Math.ceil(v);
+ else
+ v = Math.floor(v);
+ return v * 128.0;
+ }
+
+ public void check_imu_wrap(AltosIMU imu) {
+ if (this.imu == null) {
+ gyro_zero_roll += gyro_zero_overflow(imu.gyro_roll);
+ gyro_zero_pitch += gyro_zero_overflow(imu.gyro_pitch);
+ gyro_zero_yaw += gyro_zero_overflow(imu.gyro_yaw);
+ }
+ }
+
+ public double accel_along() {
+ if (imu != null && accel_zero_along != AltosLib.MISSING)
+ return AltosIMU.convert_accel(imu.accel_along - accel_zero_along);
+ return AltosLib.MISSING;
+ }
+
+ public double accel_across() {
+ if (imu != null && accel_zero_across != AltosLib.MISSING)
+ return AltosIMU.convert_accel(imu.accel_across - accel_zero_across);
+ return AltosLib.MISSING;
+ }
+
+ public double accel_through() {
+ if (imu != null && accel_zero_through != AltosLib.MISSING)
+ return AltosIMU.convert_accel(imu.accel_through - accel_zero_through);
+ return AltosLib.MISSING;
+ }
+
+ public double gyro_roll() {
+ if (imu != null && gyro_zero_roll != AltosLib.MISSING) {
+ return AltosIMU.convert_gyro(imu.gyro_roll - gyro_zero_roll);
+ }
+ return AltosLib.MISSING;
+ }
+
+ public double gyro_pitch() {
+ if (imu != null && gyro_zero_pitch != AltosLib.MISSING) {
+ return AltosIMU.convert_gyro(imu.gyro_pitch - gyro_zero_pitch);
+ }
+ return AltosLib.MISSING;
+ }
+
+ public double gyro_yaw() {
+ if (imu != null && gyro_zero_yaw != AltosLib.MISSING) {
+ return AltosIMU.convert_gyro(imu.gyro_yaw - gyro_zero_yaw);
+ }
+ return AltosLib.MISSING;
+ }
+
+ public void set_mag(AltosMag mag) {
+ this.mag = mag.clone();
+ }
+
+ public double mag_along() {
+ if (mag != null)
+ return AltosMag.convert_gauss(mag.along);
+ return AltosLib.MISSING;
+ }
+
+ public double mag_across() {
+ if (mag != null)
+ return AltosMag.convert_gauss(mag.across);
+ return AltosLib.MISSING;
+ }
+
+ public double mag_through() {
+ if (mag != null)
+ return AltosMag.convert_gauss(mag.through);
+ return AltosLib.MISSING;
+ }
+
+ public AltosMs5607 make_baro() {
if (baro == null)
baro = new AltosMs5607();
+ return baro;
+ }
+
+ public void set_ms5607(AltosMs5607 ms5607) {
+ baro = ms5607;
+
+ if (baro != null) {
+ set_pressure(baro.pa);
+ set_temperature(baro.cc / 100.0);
+ }
}
public void set_ms5607(int pres, int temp) {
}
}
- public void make_companion (int nchannels) {
- if (companion == null)
- companion = new AltosRecordCompanion(nchannels);
- }
-
- public void set_companion(AltosRecordCompanion companion) {
+ public void set_companion(AltosCompanion companion) {
this.companion = companion;
}
void update_accel() {
- double ground = ground_accel;
-
- if (ground == AltosRecord.MISSING)
- ground = ground_accel_avg;
- if (accel == AltosRecord.MISSING)
+ if (accel == AltosLib.MISSING)
return;
- if (ground == AltosRecord.MISSING)
+ if (accel_plus_g == AltosLib.MISSING)
return;
- if (accel_plus_g == AltosRecord.MISSING)
- return;
- if (accel_minus_g == AltosRecord.MISSING)
+ if (accel_minus_g == AltosLib.MISSING)
return;
double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
double counts_per_mss = counts_per_g / 9.80665;
- acceleration.set_computed((ground - accel) / counts_per_mss, time);
+ acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
}
public void set_accel_g(double accel_plus_g, double accel_minus_g) {
- if (accel_plus_g != AltosRecord.MISSING) {
+ if (accel_plus_g != AltosLib.MISSING) {
this.accel_plus_g = accel_plus_g;
this.accel_minus_g = accel_minus_g;
update_accel();
}
public void set_ground_accel(double ground_accel) {
- if (ground_accel != AltosRecord.MISSING) {
+ if (ground_accel != AltosLib.MISSING)
this.ground_accel = ground_accel;
- update_accel();
- }
}
public void set_accel(double accel) {
- if (accel != AltosRecord.MISSING) {
+ if (accel != AltosLib.MISSING) {
this.accel = accel;
if (state == AltosLib.ao_flight_pad) {
- if (ground_accel_avg == AltosRecord.MISSING)
+ if (ground_accel_avg == AltosLib.MISSING)
ground_accel_avg = accel;
else
ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
}
public void set_temperature(double temperature) {
- if (temperature != AltosRecord.MISSING) {
+ if (temperature != AltosLib.MISSING) {
this.temperature = temperature;
set |= set_data;
}
}
public void set_battery_voltage(double battery_voltage) {
- if (battery_voltage != AltosRecord.MISSING) {
+ if (battery_voltage != AltosLib.MISSING) {
this.battery_voltage = battery_voltage;
set |= set_data;
}
}
public void set_pyro_voltage(double pyro_voltage) {
- if (pyro_voltage != AltosRecord.MISSING) {
+ if (pyro_voltage != AltosLib.MISSING) {
this.pyro_voltage = pyro_voltage;
set |= set_data;
}
}
public void set_apogee_voltage(double apogee_voltage) {
- if (apogee_voltage != AltosRecord.MISSING) {
+ if (apogee_voltage != AltosLib.MISSING) {
this.apogee_voltage = apogee_voltage;
set |= set_data;
}
}
public void set_main_voltage(double main_voltage) {
- if (main_voltage != AltosRecord.MISSING) {
+ if (main_voltage != AltosLib.MISSING) {
this.main_voltage = main_voltage;
set |= set_data;
}
this.ignitor_voltage = voltage;
}
+ public void set_pyro_fired(int fired) {
+ this.pyro_fired = fired;
+ }
+
public double time_since_boost() {
- if (tick == AltosRecord.MISSING)
+ if (tick == AltosLib.MISSING)
return 0.0;
- if (boost_tick != AltosRecord.MISSING) {
- return (tick - boost_tick) / 100.0;
- }
- return tick / 100.0;
+ if (boost_tick == AltosLib.MISSING)
+ return tick / 100.0;
+ return (tick - boost_tick) / 100.0;
}
public boolean valid() {
- return tick != AltosRecord.MISSING && serial != AltosRecord.MISSING;
+ return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
}
public AltosGPS make_temp_gps(boolean sats) {
temp_gps = new AltosGPS(gps);
}
gps_pending = true;
- if (!sats)
- temp_gps_clear_sats_pending = true;
- else if (temp_gps_clear_sats_pending) {
- temp_gps.cc_gps_sat = null;
- temp_gps_clear_sats_pending = false;
+ if (sats) {
+ if (tick != temp_gps_sat_tick)
+ temp_gps.cc_gps_sat = null;
+ temp_gps_sat_tick = tick;
}
return temp_gps;
}
public AltosState clone() {
AltosState s = new AltosState();
s.copy(this);
- return s;
- }
-
-
- public void init (AltosRecord cur, AltosState prev_state) {
-
- System.out.printf ("init\n");
- if (cur == null)
- cur = new AltosRecord();
-
- record = cur;
- /* Discard previous state if it was for a different board */
- if (prev_state != null && prev_state.serial != cur.serial)
- prev_state = null;
+ AltosHashSet hash = hashSet();
+ String onetrip = hash.toString();
+ AltosHashSet back = AltosHashSet.fromString(onetrip);
+ AltosState tripstate = AltosState.fromHashSet(back);
+ AltosHashSet triphash = tripstate.hashSet();
+ String twotrip = triphash.toString();
- copy(prev_state);
-
- set_ground_altitude(cur.ground_altitude());
- set_altitude(cur.altitude());
-
- set_kalman(cur.kalman_height, cur.kalman_speed, cur.kalman_acceleration);
-
- received_time = System.currentTimeMillis();
-
- set_temperature(cur.temperature());
- set_apogee_voltage(cur.drogue_voltage());
- set_main_voltage(cur.main_voltage());
- set_battery_voltage(cur.battery_voltage());
-
- set_pressure(cur.pressure());
-
- set_tick(cur.tick);
- set_state(cur.state);
-
- set_accel_g (cur.accel_minus_g, cur.accel_plus_g);
- set_ground_accel(cur.ground_accel);
- set_accel (cur.accel);
-
- if (cur.gps_sequence != gps_sequence)
- set_gps(cur.gps, cur.gps_sequence);
-
- }
-
- public AltosState(AltosRecord cur) {
- init(cur, null);
- }
-
- public AltosState (AltosRecord cur, AltosState prev) {
- init(cur, prev);
+ if (!onetrip.equals(twotrip)) {
+ System.out.printf("%s\n%s\n", onetrip, twotrip);
+ System.exit(1);
+ }
+ return s;
}
-
public AltosState () {
init();
}
+
+ public AltosHashSet hashSet() {
+ AltosHashSet h = new AltosHashSet();
+
+ h.putBoolean("valid", true);
+ h.putInt("set", set);
+ h.putLong("received_time", received_time);
+ h.putDouble("time", time);
+ h.putDouble("prev_time", prev_time);
+ h.putDouble("time_change", time_change);
+ h.putInt("tick", tick);
+ h.putInt("prev_tick", prev_tick);
+ h.putInt("boost_tick", boost_tick);
+ h.putInt("state", state);
+ h.putInt("flight", flight);
+ h.putInt("serial", serial);
+ h.putInt("altitude_32", altitude_32);
+ h.putInt("receiver_serial", receiver_serial);
+ h.putBoolean("landed", landed);
+ h.putBoolean("ascent", ascent);
+ h.putBoolean("boost", boost);
+ h.putInt("rssi", rssi);
+ h.putInt("status", status);
+ h.putInt("device_type", device_type);
+ h.putInt("config_major", config_major);
+ h.putInt("config_minor", config_minor);
+ h.putInt("apogee_delay", apogee_delay);
+ h.putInt("main_deploy", main_deploy);
+ h.putInt("flight_log_max", flight_log_max);
+ h.putHashable("ground_altitude", ground_altitude);
+ h.putHashable("gps_ground_altitude", gps_ground_altitude);
+ h.putHashable("ground_pressure", ground_pressure);
+ h.putHashable("altitude", altitude);
+ h.putHashable("gps_altitude", gps_altitude);
+ h.putHashable("gps_ground_speed", gps_ground_speed);
+ h.putHashable("gps_ascent_rate", gps_ascent_rate);
+ h.putHashable("gps_course", gps_course);
+ h.putHashable("gps_speed", gps_speed);
+ h.putHashable("pressure", pressure);
+ h.putHashable("speed", speed);
+ h.putHashable("acceleration", acceleration);
+ h.putHashable("orient", orient);
+ h.putHashable("kalman_height", kalman_height);
+ h.putHashable("kalman_speed", kalman_speed);
+ h.putHashable("kalman_acceleration", kalman_acceleration);
+
+ h.putDouble("battery_voltage",battery_voltage);
+ h.putDouble("pyro_voltage",pyro_voltage);
+ h.putDouble("temperature",temperature);
+ h.putDouble("apogee_voltage",apogee_voltage);
+ h.putDouble("main_voltage",main_voltage);
+ h.putDoubleArray("ignitor_voltage",ignitor_voltage);
+ h.putHashable("gps", gps);
+ h.putHashable("temp_gps", temp_gps);
+ h.putInt("temp_gps_sat_tick", temp_gps_sat_tick);
+ h.putBoolean("gps_pending", gps_pending);
+ h.putInt("gps_sequence", gps_sequence);
+ h.putHashable("imu", imu);
+ h.putHashable("mag", mag);
+
+ h.putInt("npad", npad);
+ h.putInt("gps_waiting", gps_waiting);
+ h.putBoolean("gps_ready", gps_ready);
+ h.putInt("ngps", ngps);
+ h.putHashable("from_pad", from_pad);
+ h.putDouble("elevation", elevation);
+ h.putDouble("range", range);
+ h.putDouble("gps_height", gps_height);
+ h.putDouble("pad_lat", pad_lat);
+ h.putDouble("pad_lon", pad_lon);
+ h.putDouble("pad_alt", pad_alt);
+ h.putInt("speak_tick", speak_tick);
+ h.putDouble("speak_altitude", speak_altitude);
+ h.putString("callsign", callsign);
+ h.putString("firmware_version", firmware_version);
+ h.putDouble("accel_plus_g", accel_plus_g);
+ h.putDouble("accel_minus_g", accel_minus_g);
+ h.putDouble("accel", accel);
+ h.putDouble("ground_accel", ground_accel);
+ h.putDouble("ground_accel_avg", ground_accel_avg);
+ h.putInt("log_format", log_format);
+ h.putString("product", product);
+ h.putHashable("baro", baro);
+ h.putHashable("companion", companion);
+ h.putInt("pyro_fired", pyro_fired);
+ h.putDouble("accel_zero_along", accel_zero_along);
+ h.putDouble("accel_zero_across", accel_zero_across);
+ h.putDouble("accel_zero_through", accel_zero_through);
+
+ h.putHashable("rotation", rotation);
+ h.putHashable("ground_rotation", ground_rotation);
+
+ h.putInt("pad_orientation", pad_orientation);
+
+ h.putDouble("accel_ground_along", accel_ground_along);
+ h.putDouble("accel_ground_across", accel_ground_across);
+ h.putDouble("accel_ground_through", accel_ground_through);
+
+ h.putDouble("gyro_zero_roll", gyro_zero_roll);
+ h.putDouble("gyro_zero_pitch", gyro_zero_pitch);
+ h.putDouble("gyro_zero_yaw", gyro_zero_yaw);
+
+ h.putDouble("last_imu_time", last_imu_time);
+ return h;
+ }
+
+ public AltosState(AltosHashSet h) {
+ this();
+
+ set = h.getInt("set", set);
+ received_time = h.getLong("received_time", received_time);
+ time = h.getDouble("time", time);
+ prev_time = h.getDouble("prev_time", prev_time);
+ time_change = h.getDouble("time_change", time_change);
+ tick = h.getInt("tick", tick);
+ prev_tick = h.getInt("prev_tick", prev_tick);
+ boost_tick = h.getInt("boost_tick", boost_tick);
+ state = h.getInt("state", state);
+ flight = h.getInt("flight", flight);
+ serial = h.getInt("serial", serial);
+ altitude_32 = h.getInt("altitude_32", altitude_32);
+ receiver_serial = h.getInt("receiver_serial", receiver_serial);
+ landed = h.getBoolean("landed", landed);
+ ascent = h.getBoolean("ascent", ascent);
+ boost = h.getBoolean("boost", boost);
+ rssi = h.getInt("rssi", rssi);
+ status = h.getInt("status", status);
+ device_type = h.getInt("device_type", device_type);
+ config_major = h.getInt("config_major", config_major);
+ config_minor = h.getInt("config_minor", config_minor);
+ apogee_delay = h.getInt("apogee_delay", apogee_delay);
+ main_deploy = h.getInt("main_deploy", main_deploy);
+ flight_log_max = h.getInt("flight_log_max", flight_log_max);
+ ground_altitude = AltosCValue_fromHashSet(h.getHash("ground_altitude"), ground_altitude);
+ gps_ground_altitude = AltosGpsGroundAltitude_fromHashSet(h.getHash("gps_ground_altitude"), gps_ground_altitude);
+ ground_pressure = AltosGroundPressure_fromHashSet(h.getHash("ground_pressure"), ground_pressure);
+ altitude = AltosAltitude_fromHashSet(h.getHash("altitude"), altitude);
+ gps_altitude = AltosGpsAltitude_fromHashSet(h.getHash("gps_altitude"), gps_altitude);
+ gps_ground_speed = AltosValue_fromHashSet(h.getHash("gps_ground_speed"), gps_ground_speed);
+ gps_ascent_rate = AltosValue_fromHashSet(h.getHash("gps_ascent_rate"), gps_ascent_rate);
+ gps_course = AltosValue_fromHashSet(h.getHash("gps_course"), gps_course);
+ gps_speed = AltosValue_fromHashSet(h.getHash("gps_speed"), gps_speed);
+ pressure = AltosPressure_fromHashSet(h.getHash("pressure"), pressure);
+ speed = AltosSpeed_fromHashSet(h.getHash("speed"), speed);
+ acceleration = AltosAccel_fromHashSet(h.getHash("acceleration"), acceleration);
+ orient = AltosCValue_fromHashSet(h.getHash("orient"), orient);
+ kalman_height = AltosValue_fromHashSet(h.getHash("kalman_height"), kalman_height);
+ kalman_speed = AltosValue_fromHashSet(h.getHash("kalman_speed"), kalman_speed);
+ kalman_acceleration = AltosValue_fromHashSet(h.getHash("kalman_acceleration"), kalman_acceleration);
+
+ battery_voltage = h.getDouble("battery_voltage", battery_voltage);
+ pyro_voltage = h.getDouble("pyro_voltage", pyro_voltage);
+ temperature = h.getDouble("temperature", temperature);
+ apogee_voltage = h.getDouble("apogee_voltage", apogee_voltage);
+ main_voltage= h.getDouble("main_voltage", main_voltage);
+ ignitor_voltage = h.getDoubleArray("ignitor_voltage", ignitor_voltage);
+ gps = AltosGPS.fromHashSet(h.getHash("gps"), gps);
+ temp_gps = AltosGPS.fromHashSet(h.getHash("temp_gps"), temp_gps);
+ temp_gps_sat_tick = h.getInt("temp_gps_sat_tick", temp_gps_sat_tick);
+ gps_pending = h.getBoolean("gps_pending", gps_pending);
+ gps_sequence = h.getInt("gps_sequence", gps_sequence);
+ imu = AltosIMU.fromHashSet(h.getHash("imu"), imu);
+ mag = AltosMag.fromHashSet(h.getHash("mag"), mag);
+
+ npad = h.getInt("npad", npad);
+ gps_waiting = h.getInt("gps_waiting", gps_waiting);
+ gps_ready = h.getBoolean("gps_ready", gps_ready);
+ ngps = h.getInt("ngps", ngps);
+ from_pad = AltosGreatCircle.fromHashSet(h.getHash("from_pad"), from_pad);
+ elevation = h.getDouble("elevation", elevation);
+ range = h.getDouble("range", range);
+ gps_height = h.getDouble("gps_height", gps_height);
+ pad_lat = h.getDouble("pad_lat", pad_lat);
+ pad_lon = h.getDouble("pad_lon", pad_lon);
+ pad_alt = h.getDouble("pad_alt", pad_alt);
+ speak_tick = h.getInt("speak_tick", speak_tick);
+ speak_altitude = h.getDouble("speak_altitude", speak_altitude);
+ callsign = h.getString("callsign", callsign);
+ firmware_version = h.getString("firmware_version", firmware_version);
+ accel_plus_g = h.getDouble("accel_plus_g", accel_plus_g);
+ accel_minus_g = h.getDouble("accel_minus_g", accel_minus_g);
+ accel = h.getDouble("accel", accel);
+ ground_accel = h.getDouble("ground_accel", ground_accel);
+ ground_accel_avg = h.getDouble("ground_accel_avg", ground_accel_avg);
+ log_format = h.getInt("log_format", log_format);
+ product = h.getString("product", product);
+ baro = AltosMs5607.fromHashSet(h.getHash("baro"), baro);
+ companion = AltosCompanion.fromHashSet(h.getHash("companion"), companion);
+ pyro_fired = h.getInt("pyro_fired", pyro_fired);
+ accel_zero_along = h.getDouble("accel_zero_along", accel_zero_along);
+ accel_zero_across = h.getDouble("accel_zero_across", accel_zero_across);
+ accel_zero_through = h.getDouble("accel_zero_through", accel_zero_through);
+
+ rotation = AltosRotation.fromHashSet(h.getHash("rotation"), rotation);
+ ground_rotation = AltosRotation.fromHashSet(h.getHash("ground_rotation"), ground_rotation);
+
+ pad_orientation = h.getInt("pad_orientation", pad_orientation);
+
+ accel_ground_along = h.getDouble("accel_ground_along", accel_ground_along);
+ accel_ground_across = h.getDouble("accel_ground_across", accel_ground_across);
+ accel_ground_through = h.getDouble("accel_ground_through", accel_ground_through);
+
+ gyro_zero_roll = h.getDouble("gyro_zero_roll", gyro_zero_roll);
+ gyro_zero_pitch = h.getDouble("gyro_zero_pitch", gyro_zero_pitch);
+ gyro_zero_yaw = h.getDouble("gyro_zero_yaw", gyro_zero_yaw);
+
+ last_imu_time = h.getDouble("last_imu_time", last_imu_time);
+ }
+
+ public static AltosState fromHashSet(AltosHashSet h) {
+ if (h == null)
+ return null;
+ if (!h.getBoolean("valid", false))
+ return null;
+ return new AltosState(h);
+ }
}
projects / fw / altos / blobdiff