altoslib: Fix 8 to 12 bit conversion for Mega pyro voltage data

[fw/altos] / altoslib / AltosState.java

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index a75c240c41334d58e4ae4661749a43b9095a4d0c..68097faf8bb6b589d600b61adfd4d9e6ae0b4df3 100644 (file)
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -20,7 +20,7 @@
  * Track flight state from telemetry or eeprom data stream
  */
 
-package org.altusmetrum.altoslib_11;
+package org.altusmetrum.altoslib_12;
 
 public class AltosState extends AltosDataListener {
 
@@ -480,7 +480,7 @@ public class AltosState extends AltosDataListener {
        class AltosPressure extends AltosValue {
                void set(double p, double time) {
                        super.set(p, time);
-                       if (state == AltosLib.ao_flight_pad)
+                       if (state() == AltosLib.ao_flight_pad)
                                ground_pressure.set_filtered(p, time);
                        double a = pressure_to_altitude(p);
                        altitude.set_computed(a, time);
@@ -557,7 +557,7 @@ public class AltosState extends AltosDataListener {
        class AltosSpeed extends AltosCValue {
 
                boolean can_max() {
-                       return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
+                       return state() < AltosLib.ao_flight_fast || state() == AltosLib.ao_flight_stateless;
                }
 
                void set_accel() {
@@ -615,7 +615,7 @@ public class AltosState extends AltosDataListener {
        class AltosAccel extends AltosCValue {
 
                boolean can_max() {
-                       return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
+                       return state() < AltosLib.ao_flight_fast || state() == AltosLib.ao_flight_stateless;
                }
 
                void set_measured(double a, double time) {
@@ -712,11 +712,11 @@ public class AltosState extends AltosDataListener {
        }
 
        public void init() {
+               super.init();
+
                set = 0;
 
                received_time = System.currentTimeMillis();
-               time = AltosLib.MISSING;
-               state = AltosLib.ao_flight_invalid;
                landed = false;
                boost = false;
                rssi = AltosLib.MISSING;
@@ -819,9 +819,9 @@ public class AltosState extends AltosDataListener {
 
                if (gps.locked && gps.nsat >= 4) {
                        /* Track consecutive 'good' gps reports, waiting for 10 of them */
-                       if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) {
+                       if (state() == AltosLib.ao_flight_pad || state() == AltosLib.ao_flight_stateless) {
                                set_npad(npad+1);
-                               if (pad_lat != AltosLib.MISSING && (npad < 10 || state == AltosLib.ao_flight_pad)) {
+                               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;
                                        gps_ground_altitude.set_filtered(gps.alt, time);
@@ -859,24 +859,14 @@ public class AltosState extends AltosDataListener {
        }
 
        public String state_name() {
-               return AltosLib.state_name(state);
+               return AltosLib.state_name(state());
        }
 
        public void set_state(int state) {
-               if (state != AltosLib.ao_flight_invalid) {
-                       this.state = state;
-                       ascent = (AltosLib.ao_flight_boost <= state &&
-                                 state <= AltosLib.ao_flight_coast);
-                       boost = (AltosLib.ao_flight_boost == state);
-               }
-       }
-
-       public int state() {
-               return state;
-       }
-
-       private void re_init() {
-               init();
+               super.set_state(state);
+               ascent = (AltosLib.ao_flight_boost <= state() &&
+                         state() <= AltosLib.ao_flight_coast);
+               boost = (AltosLib.ao_flight_boost == state());
        }
 
        public int rssi() {
@@ -897,6 +887,7 @@ public class AltosState extends AltosDataListener {
        }
 
        public void set_gps(AltosGPS gps) {
+               super.set_gps(gps);
                if (gps != null) {
                        this.gps = gps;
                        update_gps();
@@ -909,11 +900,11 @@ public class AltosState extends AltosDataListener {
        public double   accel_ground_along, accel_ground_across, accel_ground_through;
 
        void update_pad_rotation() {
-               if (cal_data.pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
-                       rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data.accel_zero_across),
-                                                    AltosIMU.convert_accel(accel_ground_through - cal_data.accel_zero_through),
-                                                    AltosIMU.convert_accel(accel_ground_along - cal_data.accel_zero_along),
-                                                    cal_data.pad_orientation);
+               if (cal_data().pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
+                       rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data().accel_zero_across),
+                                                    AltosIMU.convert_accel(accel_ground_through - cal_data().accel_zero_through),
+                                                    AltosIMU.convert_accel(accel_ground_along - cal_data().accel_zero_along),
+                                                    cal_data().pad_orientation);
                        orient.set_computed(rotation.tilt(), time);
                }
        }
@@ -931,12 +922,12 @@ public class AltosState extends AltosDataListener {
                if (last_imu_time != AltosLib.MISSING) {
                        double  t = time - last_imu_time;
 
-                       double  pitch = AltosConvert.degrees_to_radians(gyro_pitch);
-                       double  yaw = AltosConvert.degrees_to_radians(gyro_yaw);
-                       double  roll = AltosConvert.degrees_to_radians(gyro_roll);
+                       if (t > 0 && gyro_pitch != AltosLib.MISSING && rotation != null) {
+                               double  pitch = AltosConvert.degrees_to_radians(gyro_pitch) * t;
+                               double  yaw = AltosConvert.degrees_to_radians(gyro_yaw) * t;
+                               double  roll = AltosConvert.degrees_to_radians(gyro_roll) * t;
 
-                       if (t > 0 && pitch != AltosLib.MISSING && rotation != null) {
-                               rotation.rotate(t, pitch, yaw, roll);
+                               rotation.rotate(pitch, yaw, roll);
                                orient.set_computed(rotation.tilt(), time);
                        }
                }
@@ -1060,14 +1051,11 @@ public class AltosState extends AltosDataListener {
        }
 
        public AltosState() {
-               Thread.dumpStack();
                init();
        }
 
        public AltosState (AltosCalData cal_data) {
                super(cal_data);
-               if (cal_data == null)
-                       Thread.dumpStack();
                init();
        }
 }