*
* 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_2;
+package org.altusmetrum.altoslib_13;
-public class AltosState implements Cloneable {
+public class AltosState extends AltosDataListener {
public static final int set_position = 1;
public static final int set_gps = 2;
public int set;
- static final double ascent_filter_len = 0.1;
- static final double descent_filter_len = 2.0;
+ 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 */
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 {
- private double value;
- private double prev_value;
+ 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 != AltosLib.MISSING) {
value = new_value;
- if (max_value == AltosLib.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)
- new_value = (prev_value * 15.0 + new_value) / 16.0;
+ 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);
}
void set_derivative(AltosValue in) {
double n = in.rate();
-
+
if (n == AltosLib.MISSING)
return;
/* Clip changes to reduce noise */
double ddt = in.time() - pt;
double ddv = (n - p) / ddt;
-
+
+ final double max = 100000;
+
/* 100gs */
- if (Math.abs(ddv) > 1000) {
+ if (Math.abs(ddv) > max) {
if (n > p)
- n = p + ddt * 1000;
+ n = p + ddt * max;
else
- n = p - ddt * 1000;
+ n = p - ddt * max;
}
double filter_len;
prev_value = AltosLib.MISSING;
max_value = AltosLib.MISSING;
}
+
}
class AltosCValue {
- AltosValue measured;
- AltosValue computed;
+
+ class AltosIValue extends AltosValue {
+ boolean can_max() {
+ return c_can_max();
+ }
+
+ AltosIValue() {
+ super();
+ }
+ };
+
+ public AltosIValue measured;
+ public AltosIValue computed;
+
+ boolean can_max() { return true; }
+
+ boolean c_can_max() { return can_max(); }
double value() {
double v = measured.value();
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);
computed.finish_update();
}
- AltosCValue() {
- measured = new AltosValue();
- computed = new AltosValue();
+ public AltosCValue() {
+ measured = new AltosIValue();
+ computed = new AltosIValue();
}
}
- 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 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)
ground_altitude.set_measured(a, 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();
+ }
+ }
+
+ 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);
- ground_altitude.set_computed(pressure_to_altitude(computed.value()), 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();
+ }
}
private AltosGroundPressure ground_pressure;
-
+
public double ground_pressure() {
return ground_pressure.value();
}
set_speed(measured);
set |= set_position;
}
+
+ AltosAltitude() {
+ super();
+ }
}
private AltosAltitude altitude;
+ class AltosGpsAltitude extends AltosValue {
+
+ 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();
+ }
+ }
+
+ 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 != AltosLib.MISSING)
return a;
- if (gps != null)
- return gps.alt;
- return AltosLib.MISSING;
+ return gps_altitude.value();
}
public double max_altitude() {
double a = altitude.max();
if (a != AltosLib.MISSING)
return a;
- return AltosLib.MISSING;
+ return gps_altitude.max();
}
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);
}
+ 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);
- 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();
+ }
}
private AltosPressure pressure;
pressure.set(p, time);
}
- public double height() {
- double k = kalman_height.value();
- if (k != AltosLib.MISSING)
- return k;
+ public void set_thrust(double N) {
+ }
+ public double baro_height() {
double a = altitude();
double g = ground_altitude();
if (a != AltosLib.MISSING && g != AltosLib.MISSING)
return AltosLib.MISSING;
}
+ public double height() {
+ double k = kalman_height.value();
+ if (k != AltosLib.MISSING)
+ return k;
+
+ double b = baro_height();
+ if (b != AltosLib.MISSING)
+ return b;
+
+ return gps_height();
+ }
+
public double max_height() {
double k = kalman_height.max();
if (k != AltosLib.MISSING)
double a = altitude.max();
double g = ground_altitude();
+ 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 AltosLib.MISSING;
+ }
+
+ 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 {
-
+
+ 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();
+ }
}
private AltosSpeed speed;
double v = kalman_speed.value();
if (v != AltosLib.MISSING)
return v;
- return speed.value();
+ 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() {
double v = kalman_speed.max();
if (v != AltosLib.MISSING)
return v;
- return speed.max();
+ 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 {
+
+ boolean can_max() {
+ return state() < AltosLib.ao_flight_fast || state() == AltosLib.ao_flight_stateless;
+ }
+
void set_measured(double a, double time) {
super.set_measured(a, time);
if (ascent)
speed.set_integral(this.measured);
}
+
+ AltosAccel() {
+ super();
+ }
}
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) {
+ 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 AltosMs5607 baro;
public AltosCompanion companion;
+ public int pyro_fired;
+
public void set_npad(int npad) {
this.npad = npad;
gps_waiting = MIN_PAD_SAMPLES - npad;
}
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();
pressure = new AltosPressure();
speed = new AltosSpeed();
acceleration = new AltosAccel();
+ orient = new AltosCValue();
temperature = AltosLib.MISSING;
battery_voltage = AltosLib.MISSING;
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;
- mag = null;
+ last_imu_time = AltosLib.MISSING;
+ rotation = null;
+
+ accel_ground_along = AltosLib.MISSING;
+ accel_ground_across = AltosLib.MISSING;
+ accel_ground_through = 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;
+
+ 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;
pad_lon = AltosLib.MISSING;
pad_alt = AltosLib.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;
-
- 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;
- serial = AltosLib.MISSING;
- receiver_serial = 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();
speed.finish_update();
acceleration.finish_update();
+ orient.finish_update();
kalman_height.finish_update();
kalman_speed.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_altitude.copy(old.ground_altitude);
- altitude.copy(old.altitude);
- pressure.copy(old.pressure);
- speed.copy(old.speed);
- acceleration.copy(old.acceleration);
-
- 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;
-
- 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;
- 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;
-
- 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;
- serial = old.serial;
- receiver_serial = old.receiver_serial;
-
- baro = old.baro;
- companion = old.companion;
- }
-
void update_time() {
}
void update_gps() {
- elevation = 0;
- range = -1;
- gps_height = 0;
+ elevation = AltosLib.MISSING;
+ distance = 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 != AltosLib.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 == 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);
+ } 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;
- gps_height = gps.alt - pad_alt;
- }
- }
-
- 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);
+ 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 void set_device_type(int device_type) {
- this.device_type = device_type;
- }
-
- public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
- config_major = major;
- config_minor = minor;
- this.apogee_delay = apogee_delay;
- this.main_deploy = main_deploy;
- 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 void set_flight(int flight) {
-
- /* When the flight changes, reset the state */
- if (flight != AltosLib.MISSING && flight != 0) {
- if (this.flight != AltosLib.MISSING &&
- this.flight != flight) {
- 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) {
- init();
- }
- this.serial = serial;
- }
- }
-
- public void set_receiver_serial(int serial) {
- if (serial != AltosLib.MISSING)
- receiver_serial = serial;
+ 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 void set_imu(AltosIMU imu) {
- if (imu != null)
- imu = imu.clone();
- this.imu = imu;
- }
+ public AltosRotation rotation;
- public void set_mag(AltosMag mag) {
- this.mag = mag.clone();
+ 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);
+ orient.set_computed(rotation.tilt(), time);
+ }
}
- public AltosMs5607 make_baro() {
- if (baro == null)
- baro = new AltosMs5607();
- return baro;
+ 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_ms5607(AltosMs5607 ms5607) {
- baro = ms5607;
+ public double last_imu_time;
+
+ private void update_orient() {
+ if (last_imu_time != AltosLib.MISSING) {
+ double t = time - last_imu_time;
- if (baro != null) {
- set_pressure(baro.pa);
- set_temperature(baro.cc / 100.0);
+ 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;
+
+ rotation.rotate(pitch, yaw, roll);
+ orient.set_computed(rotation.tilt(), time);
+ }
}
+ last_imu_time = time;
}
- public void set_ms5607(int pres, int temp) {
- if (baro != null) {
- baro.set(pres, temp);
+ private double gyro_roll, gyro_pitch, gyro_yaw;
- set_pressure(baro.pa);
- set_temperature(baro.cc / 100.0);
- }
+ public void set_gyro(double roll, double pitch, double yaw) {
+ gyro_roll = roll;
+ gyro_pitch = pitch;
+ gyro_yaw = yaw;
+ update_orient();
}
- public void make_companion (int nchannels) {
- if (companion == null)
- companion = new AltosCompanion(nchannels);
+ private double accel_along, accel_across, accel_through;
+
+ public void set_accel(double along, double across, double through) {
+ accel_along = along;
+ accel_across = across;
+ accel_through = through;
+ update_orient();
}
- public void set_companion(AltosCompanion companion) {
- this.companion = companion;
+ public double accel_along() {
+ return accel_along;
}
- void update_accel() {
- double ground = ground_accel;
+ public double accel_across() {
+ return accel_across;
+ }
- if (ground == AltosLib.MISSING)
- ground = ground_accel_avg;
- if (accel == AltosLib.MISSING)
- return;
- if (ground == AltosLib.MISSING)
- return;
- if (accel_plus_g == AltosLib.MISSING)
- return;
- if (accel_minus_g == AltosLib.MISSING)
- return;
+ public double accel_through() {
+ return accel_through;
+ }
- double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
- double counts_per_mss = counts_per_g / 9.80665;
- acceleration.set_measured((ground - accel) / counts_per_mss, time);
+ public double gyro_roll() {
+ return gyro_roll;
}
- 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 double gyro_pitch() {
+ return gyro_pitch;
}
- public void set_ground_accel(double ground_accel) {
- if (ground_accel != AltosLib.MISSING) {
- this.ground_accel = ground_accel;
- update_accel();
- }
+ public double gyro_yaw() {
+ return gyro_yaw;
}
- 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;
- }
+ 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() {
+ return mag_along;
+ }
+
+ public double mag_across() {
+ return mag_across;
+ }
+
+ public double mag_through() {
+ return mag_through;
+ }
+
+ public void set_companion(AltosCompanion companion) {
+ this.companion = companion;
+ }
+
+ 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 double time_since_boost() {
- if (tick == AltosLib.MISSING)
- return 0.0;
-
- if (boost_tick != AltosLib.MISSING) {
- return (tick - boost_tick) / 100.0;
- }
- return tick / 100.0;
- }
-
- public boolean valid() {
- return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
+ public void set_igniter_voltage(double[] voltage) {
+ this.igniter_voltage = voltage;
}
- 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_pyro_fired(int fired) {
+ this.pyro_fired = fired;
}
- 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);
- return s;
+ public AltosState() {
+ init();
}
- public AltosState () {
+ public AltosState (AltosCalData cal_data) {
+ super(cal_data);
init();
}
}
projects / fw / altos / blobdiff