* Track flight state from telemetry or eeprom data stream
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
public class AltosState implements Cloneable {
- public AltosRecord record;
public static final int set_position = 1;
public static final int set_gps = 2;
private double max_rate = 1000.0;
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 (max_value == AltosLib.MISSING || value > max_value) {
max_value = value;
}
set_time = time;
}
void set_filtered(double new_value, double time) {
- if (prev_value != AltosRecord.MISSING)
+ if (prev_value != AltosLib.MISSING)
new_value = (prev_value * 15.0 + new_value) / 16.0;
set(new_value, time);
}
}
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 n = in.rate();
- if (n == AltosRecord.MISSING)
+ if (n == AltosLib.MISSING)
return;
double p = prev_value;
double pt = prev_set_time;
- if (p == AltosRecord.MISSING) {
+ if (p == AltosLib.MISSING) {
p = 0;
pt = in.time() - 0.01;
}
void set_integral(AltosValue in) {
double change = in.integrate();
- if (change != AltosRecord.MISSING) {
+ if (change != AltosLib.MISSING) {
double prev = prev_value;
- if (prev == AltosRecord.MISSING)
+ if (prev == AltosLib.MISSING)
prev = 0;
set(prev + change, in.time());
}
max_value = old.max_value;
}
+ void finish_update() {
+ prev_value = value;
+ prev_set_time = set_time;
+ }
+
AltosValue() {
- value = AltosRecord.MISSING;
- prev_value = AltosRecord.MISSING;
- max_value = AltosRecord.MISSING;
+ value = AltosLib.MISSING;
+ prev_value = AltosLib.MISSING;
+ max_value = AltosLib.MISSING;
}
}
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;
}
computed.copy(old.computed);
}
+ void finish_update() {
+ measured.finish_update();
+ computed.finish_update();
+ }
+
AltosCValue() {
measured = new AltosValue();
computed = new AltosValue();
public int state;
public int flight;
public int serial;
+ 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);
}
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 AltosLib.MISSING;
}
public double max_altitude() {
double a = altitude.max();
- if (a != AltosRecord.MISSING)
+ if (a != AltosLib.MISSING)
return a;
- return AltosRecord.MISSING;
+ return AltosLib.MISSING;
}
public void set_altitude(double new_altitude) {
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)
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
return a - g;
- return AltosRecord.MISSING;
+ return AltosLib.MISSING;
}
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 AltosRecord.MISSING;
+ return AltosLib.MISSING;
}
class AltosSpeed extends AltosCValue {
private AltosSpeed speed;
public double speed() {
+ double v = kalman_speed.value();
+ if (v != AltosLib.MISSING)
+ return v;
return speed.value();
}
public double max_speed() {
+ double v = kalman_speed.max();
+ if (v != AltosLib.MISSING)
+ return v;
return speed.max();
}
public AltosMs5607 baro;
- public AltosRecordCompanion companion;
+ public AltosCompanion companion;
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();
speed = new AltosSpeed();
acceleration = new AltosAccel();
- 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();
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;
+ speak_tick = AltosLib.MISSING;
+ speak_altitude = AltosLib.MISSING;
callsign = 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;
+ serial = AltosLib.MISSING;
+ receiver_serial = AltosLib.MISSING;
baro = null;
companion = null;
}
- void copy(AltosState old) {
+ void finish_update() {
+ prev_tick = tick;
- record = null;
+ ground_altitude.finish_update();
+ altitude.finish_update();
+ pressure.finish_update();
+ speed.finish_update();
+ acceleration.finish_update();
+
+ 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;
log_format = old.log_format;
serial = old.serial;
+ receiver_serial = old.receiver_serial;
baro = old.baro;
companion = old.companion;
/* Track consecutive 'good' gps reports, waiting for 10 of them */
if (state == AltosLib.ao_flight_pad) {
set_npad(npad+1);
- if (pad_lat != AltosRecord.MISSING) {
+ if (pad_lat != AltosLib.MISSING) {
pad_lat = (pad_lat * 31 + gps.lat) / 32;
pad_lon = (pad_lon * 31 + gps.lon) / 32;
pad_alt = (pad_alt * 31 + gps.alt) / 32;
}
}
- if (pad_lat == AltosRecord.MISSING) {
+ if (pad_lat == AltosLib.MISSING) {
pad_lat = gps.lat;
pad_lon = gps.lon;
pad_alt = gps.alt;
}
}
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;
}
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;
}
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 && flight != 0) {
+ if (this.flight != AltosLib.MISSING &&
this.flight != flight) {
init();
}
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();
}
}
}
+ public void set_receiver_serial(int serial) {
+ if (serial != AltosLib.MISSING)
+ receiver_serial = serial;
+ }
+
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 void set_imu(AltosIMU imu) {
+ if (imu != null)
+ imu = imu.clone();
+ this.imu = imu;
+ }
+
+ public void set_mag(AltosMag mag) {
+ this.mag = mag.clone();
+ }
+
+ 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);
+ companion = new AltosCompanion(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)
+ if (ground == AltosLib.MISSING)
ground = ground_accel_avg;
- if (accel == AltosRecord.MISSING)
+ if (accel == AltosLib.MISSING)
return;
- if (ground == AltosRecord.MISSING)
+ if (ground == AltosLib.MISSING)
return;
- if (accel_plus_g == AltosRecord.MISSING)
+ if (accel_plus_g == AltosLib.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;
}
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;
}
}
public double time_since_boost() {
- if (tick == AltosRecord.MISSING)
+ if (tick == AltosLib.MISSING)
return 0.0;
- if (boost_tick != AltosRecord.MISSING) {
+ if (boost_tick != AltosLib.MISSING) {
return (tick - boost_tick) / 100.0;
}
return 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) {
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;
-
- 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);
- }
-
-
public AltosState () {
init();
}
projects / fw / altos / blobdiff