*
* 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.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* Track flight state from telemetry or eeprom data stream
*/
-package org.altusmetrum.altoslib_11;
+package org.altusmetrum.altoslib_13;
-import java.io.*;
-
-public class AltosState implements Cloneable, AltosHashable {
+public class AltosState extends AltosDataListener {
public static final int set_position = 1;
public static final int set_gps = 2;
public long received_time;
- public double time;
- public double prev_time;
- public double time_change;
- public int tick;
- private int prev_tick;
- public int boost_tick;
+ public int rssi;
+ public int status;
- class AltosValue implements AltosHashable {
+ class AltosValue {
double value;
double prev_value;
private double max_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 = AltosLib.MISSING;
prev_value = AltosLib.MISSING;
}
- AltosValue AltosValue_fromHashSet(AltosHashSet h, AltosValue def) {
- if (h == null)
- return def;
- return new AltosValue(h);
- }
-
- class AltosCValue implements AltosHashable {
+ class AltosCValue {
- class AltosIValue extends AltosValue implements AltosHashable {
+ class AltosIValue extends AltosValue {
boolean can_max() {
return c_can_max();
}
AltosIValue() {
super();
}
-
- AltosIValue(AltosHashSet h) {
- super(h);
- }
};
public AltosIValue measured;
computed.finish_update();
}
- AltosCValue() {
+ public AltosCValue() {
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"));
- }
}
- 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 rssi;
- public int status;
- public int device_type;
- public int config_major;
- public int config_minor;
- public int apogee_delay;
- public int main_deploy;
- public int flight_log_max;
private double pressure_to_altitude(double p) {
if (p == AltosLib.MISSING)
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;
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;
ground_pressure.set_measured(pressure, time);
}
- class AltosAltitude extends AltosCValue implements AltosHashable {
+ class AltosAltitude extends AltosCValue {
private void set_speed(AltosValue v) {
if (!acceleration.is_measured() || !ascent)
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 {
+ class AltosGpsAltitude extends AltosValue {
private void set_gps_height() {
double a = value();
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;
}
public void set_altitude(double new_altitude) {
+ double old_altitude = altitude.value();
+ if (old_altitude != AltosLib.MISSING) {
+ while (old_altitude - new_altitude > 32000)
+ new_altitude += 65536.0;
+ }
altitude.set_measured(new_altitude, time);
}
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);
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 void set_thrust(double N) {
+ }
+
public double baro_height() {
double a = altitude();
double g = ground_altitude();
return AltosLib.MISSING;
}
- class AltosSpeed extends AltosCValue implements AltosHashable {
+ 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() {
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;
return AltosLib.MISSING;
}
- class AltosAccel extends AltosCValue implements AltosHashable {
+ 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) {
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;
public AltosValue kalman_height, kalman_speed, kalman_acceleration;
public void set_kalman(double height, double speed, double acceleration) {
+ double old_height = kalman_height.value();
+ if (old_height != AltosLib.MISSING) {
+ while (old_height - height > 32000)
+ height += 65536;
+ }
kalman_height.set(height, time);
kalman_speed.set(speed, time);
kalman_acceleration.set(acceleration, time);
public double apogee_voltage;
public double main_voltage;
- public double ignitor_voltage[];
+ public double igniter_voltage[];
public AltosGPS gps;
- public AltosGPS temp_gps;
- public int temp_gps_sat_tick;
public boolean gps_pending;
- public int gps_sequence;
-
- public AltosIMU imu;
- public AltosMag mag;
public static final int MIN_PAD_SAMPLES = 10;
public AltosGreatCircle from_pad;
public double elevation; /* from pad */
+ public double distance; /* distance along ground */
public double range; /* total distance */
public double gps_height;
public int speak_tick;
public double speak_altitude;
- public String callsign;
- public String firmware_version;
-
- public double accel_plus_g;
- public double accel_minus_g;
- public double accel;
public double ground_accel;
- public double ground_accel_avg;
-
- public int log_format;
- public String product;
-
- public AltosMs5607 baro;
public AltosCompanion companion;
}
public void init() {
+ super.init();
+
set = 0;
received_time = System.currentTimeMillis();
- 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 = AltosLib.MISSING;
landed = false;
boost = false;
rssi = AltosLib.MISSING;
status = 0;
- 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();
pyro_voltage = AltosLib.MISSING;
apogee_voltage = AltosLib.MISSING;
main_voltage = AltosLib.MISSING;
- ignitor_voltage = null;
+ igniter_voltage = null;
kalman_height = new AltosValue();
kalman_speed = new AltosValue();
kalman_acceleration = new AltosValue();
gps = null;
- temp_gps = null;
- 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;
+ accel_along = AltosLib.MISSING;
+ accel_across = AltosLib.MISSING;
+ accel_through = AltosLib.MISSING;
+
+ gyro_roll = AltosLib.MISSING;
+ gyro_pitch = AltosLib.MISSING;
+ gyro_yaw = AltosLib.MISSING;
- gyro_zero_roll = AltosLib.MISSING;
- gyro_zero_pitch = AltosLib.MISSING;
- gyro_zero_yaw = AltosLib.MISSING;
+ mag_along = AltosLib.MISSING;
+ mag_across = AltosLib.MISSING;
+ mag_through = AltosLib.MISSING;
set_npad(0);
ngps = 0;
from_pad = null;
elevation = AltosLib.MISSING;
+ distance = AltosLib.MISSING;
range = AltosLib.MISSING;
gps_height = AltosLib.MISSING;
speak_tick = AltosLib.MISSING;
speak_altitude = AltosLib.MISSING;
- callsign = null;
- firmware_version = null;
-
- accel_plus_g = AltosLib.MISSING;
- accel_minus_g = AltosLib.MISSING;
- accel = AltosLib.MISSING;
-
ground_accel = AltosLib.MISSING;
- ground_accel_avg = AltosLib.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 finish_update() {
- prev_tick = tick;
-
ground_altitude.finish_update();
altitude.finish_update();
pressure.finish_update();
kalman_acceleration.finish_update();
}
- void copy(AltosState old) {
-
- if (old == null) {
- init();
- return;
- }
-
- received_time = old.received_time;
- time = old.time;
- time_change = old.time_change;
- prev_time = old.time;
-
- tick = old.tick;
- prev_tick = old.tick;
- boost_tick = old.boost_tick;
-
- state = old.state;
- flight = old.flight;
- landed = old.landed;
- ascent = old.ascent;
- boost = old.boost;
- rssi = old.rssi;
- status = old.status;
- device_type = old.device_type;
- config_major = old.config_major;
- config_minor = old.config_minor;
- 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;
- temperature = old.temperature;
- apogee_voltage = old.apogee_voltage;
- main_voltage = old.main_voltage;
- ignitor_voltage = old.ignitor_voltage;
-
- kalman_height.copy(old.kalman_height);
- kalman_speed.copy(old.kalman_speed);
- kalman_acceleration.copy(old.kalman_acceleration);
-
- if (old.gps != null)
- gps = old.gps.clone();
- else
- gps = null;
- if (old.temp_gps != null)
- temp_gps = old.temp_gps.clone();
- else
- temp_gps = null;
- temp_gps_sat_tick = old.temp_gps_sat_tick;
- gps_sequence = old.gps_sequence;
- gps_pending = old.gps_pending;
-
- if (old.imu != null)
- 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();
- else
- mag = null;
-
- npad = old.npad;
- gps_waiting = old.gps_waiting;
- gps_ready = old.gps_ready;
- ngps = old.ngps;
-
- if (old.from_pad != null)
- from_pad = old.from_pad.clone();
- else
- from_pad = null;
-
- elevation = old.elevation;
- 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_tick = old.speak_tick;
- 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;
- accel = old.accel;
- ground_accel = old.ground_accel;
- 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 = AltosLib.MISSING;
+ distance = AltosLib.MISSING;
range = AltosLib.MISSING;
if (gps == null)
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);
gps.climb_rate * gps.climb_rate), time);
if (gps.course != AltosLib.MISSING)
gps_course.set(gps.course, time);
+ } else if (state() == AltosLib.ao_flight_pad || state() == AltosLib.ao_flight_stateless) {
+ set_npad(0);
}
if (gps.lat != 0 && gps.lon != 0 &&
pad_lat != AltosLib.MISSING &&
h = 0;
from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
elevation = from_pad.elevation;
+ distance = from_pad.distance;
range = from_pad.range;
}
}
- public void set_tick(int new_tick) {
- 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 != AltosLib.MISSING)
- this.boost_tick = boost_tick;
- }
-
public String state_name() {
- return AltosLib.state_name(state);
- }
-
- public void set_product(String product) {
- this.product = product;
+ 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;
- }
-
- 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_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;
- }
-
- public void set_callsign(String callsign) {
- this.callsign = callsign;
- }
-
- public void set_firmware_version(String version) {
- 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 != AltosLib.MISSING) {
- if (this.flight != AltosLib.MISSING &&
- this.flight != flight) {
- re_init();
- }
- this.flight = flight;
- }
- }
-
- public void set_serial(int serial) {
- /* When the serial changes, reset the state */
- if (serial != AltosLib.MISSING) {
- if (this.serial != AltosLib.MISSING &&
- this.serial != serial) {
- 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;
+ super.set_state(state);
+ ascent = (AltosLib.ao_flight_boost <= state() &&
+ state() <= AltosLib.ao_flight_coast);
+ boost = (AltosLib.ao_flight_boost == state());
}
public int rssi() {
received_time = ms;
}
- public void set_gps(AltosGPS gps, int sequence) {
+ public void set_gps(AltosGPS gps) {
+ super.set_gps(gps);
if (gps != null) {
- this.gps = gps.clone();
- gps_sequence = sequence;
+ this.gps = gps;
update_gps();
set |= set_gps;
}
}
-
- 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;
+ 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);
}
}
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 && 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);
}
}
last_imu_time = time;
}
- public void set_imu(AltosIMU imu) {
- if (imu != null)
- imu = imu.clone();
- this.imu = imu;
+ private double gyro_roll, gyro_pitch, gyro_yaw;
+
+ public void set_gyro(double roll, double pitch, double yaw) {
+ gyro_roll = roll;
+ gyro_pitch = pitch;
+ gyro_yaw = yaw;
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;
- }
+ private double accel_along, accel_across, accel_through;
- 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 void set_accel(double along, double across, double through) {
+ accel_along = along;
+ accel_across = across;
+ accel_through = through;
+ update_orient();
}
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;
+ return accel_along;
}
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;
+ return accel_across;
}
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;
+ return accel_through;
}
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;
+ return gyro_roll;
}
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;
+ return gyro_pitch;
}
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;
+ return gyro_yaw;
}
- public void set_mag(AltosMag mag) {
- this.mag = mag.clone();
+ private double mag_along, mag_across, mag_through;
+
+ public void set_mag(double along, double across, double through) {
+ mag_along = along;
+ mag_across = across;
+ mag_through = through;
}
public double mag_along() {
- if (mag != null)
- return AltosMag.convert_gauss(mag.along);
- return AltosLib.MISSING;
+ return mag_along;
}
public double mag_across() {
- if (mag != null)
- return AltosMag.convert_gauss(mag.across);
- return AltosLib.MISSING;
+ return mag_across;
}
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) {
- if (baro != null) {
- baro.set(pres, temp);
-
- set_pressure(baro.pa);
- set_temperature(baro.cc / 100.0);
- }
+ return mag_through;
}
public void set_companion(AltosCompanion companion) {
this.companion = companion;
}
- void update_accel() {
- if (accel == AltosLib.MISSING)
- return;
- if (accel_plus_g == AltosLib.MISSING)
- return;
- 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_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 != 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 != AltosLib.MISSING)
- this.ground_accel = ground_accel;
- }
-
- public void set_accel(double accel) {
- if (accel != AltosLib.MISSING) {
- this.accel = accel;
- if (state == AltosLib.ao_flight_pad) {
- if (ground_accel_avg == AltosLib.MISSING)
- ground_accel_avg = accel;
- else
- ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
- }
+ public void set_acceleration(double acceleration) {
+ if (acceleration != AltosLib.MISSING) {
+ this.acceleration.set_measured(acceleration, time);
+ set |= set_data;
}
- update_accel();
}
public void set_temperature(double temperature) {
}
}
- public void set_ignitor_voltage(double[] voltage) {
- this.ignitor_voltage = voltage;
+ public void set_igniter_voltage(double[] voltage) {
+ this.igniter_voltage = voltage;
}
public void set_pyro_fired(int fired) {
this.pyro_fired = fired;
}
- public double time_since_boost() {
- if (tick == AltosLib.MISSING)
- return 0.0;
-
- if (boost_tick == AltosLib.MISSING)
- return tick / 100.0;
- return (tick - boost_tick) / 100.0;
- }
-
- public boolean valid() {
- return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
- }
-
- public AltosGPS make_temp_gps(boolean sats) {
- if (temp_gps == null) {
- temp_gps = new AltosGPS(gps);
- }
- gps_pending = true;
- if (sats) {
- if (tick != temp_gps_sat_tick)
- temp_gps.cc_gps_sat = null;
- temp_gps_sat_tick = tick;
- }
- return temp_gps;
- }
-
- public void set_temp_gps() {
- set_gps(temp_gps, gps_sequence + 1);
- gps_pending = false;
- temp_gps = null;
- }
-
- public AltosState clone() {
- AltosState s = new AltosState();
- s.copy(this);
-
- 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();
-
- if (!onetrip.equals(twotrip)) {
- System.out.printf("%s\n%s\n", onetrip, twotrip);
- System.exit(1);
- }
- return s;
- }
-
- public AltosState () {
+ 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);
+ public AltosState (AltosCalData cal_data) {
+ super(cal_data);
+ init();
}
}
projects / fw / altos / blobdiff