altoslib: Compute speed at entry to each state

[fw/altos] / altoslib / AltosState.java

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index 5abc0c2d41a5a6e666039052e784f113f4b6a415..9ee3d57ddf814fe340ef53df61fa2e31758d5cae 100644 (file)
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -20,9 +20,7 @@
  * Track flight state from telemetry or eeprom data stream
  */
 
-package org.altusmetrum.altoslib_11;
-
-import java.io.*;
+package org.altusmetrum.altoslib_12;
 
 public class AltosState extends AltosDataListener {
 
@@ -679,9 +677,6 @@ public class AltosState extends AltosDataListener {
        public AltosGPS gps;
        public boolean  gps_pending;
 
-       public AltosIMU imu;
-       public AltosMag mag;
-
        public static final int MIN_PAD_SAMPLES = 10;
 
        public int      npad;
@@ -692,6 +687,7 @@ public class AltosState extends AltosDataListener {
 
        public AltosGreatCircle from_pad;
        public double   elevation;      /* from pad */
+       public double   distance;       /* distance along ground */
        public double   range;          /* total distance */
 
        public double   gps_height;
@@ -748,24 +744,31 @@ public class AltosState extends AltosDataListener {
                gps = null;
                gps_pending = false;
 
-               imu = null;
                last_imu_time = AltosLib.MISSING;
                rotation = null;
-               ground_rotation = null;
-
-               mag = null;
 
                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;
+
+               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;
 
@@ -808,6 +811,7 @@ public class AltosState extends AltosDataListener {
 
        void update_gps() {
                elevation = AltosLib.MISSING;
+               distance = AltosLib.MISSING;
                range = AltosLib.MISSING;
 
                if (gps == null)
@@ -849,6 +853,7 @@ public class AltosState extends AltosDataListener {
                                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;
                }
        }
@@ -899,21 +904,16 @@ public class AltosState extends AltosDataListener {
                }
        }
 
-
        public AltosRotation    rotation;
-       public AltosRotation    ground_rotation;
-
-       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 - 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),
-                                                    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);
                }
        }
@@ -925,29 +925,18 @@ public class AltosState extends AltosDataListener {
                update_pad_rotation();
        }
 
-       public void set_pad_orientation(int pad_orientation) {
-               this.pad_orientation = pad_orientation;
-               update_pad_rotation();
-       }
-
        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);
                        }
                }
@@ -958,8 +947,8 @@ public class AltosState extends AltosDataListener {
 
        public void set_gyro(double roll, double pitch, double yaw) {
                gyro_roll = roll;
-               gyro_pitch = roll;
-               gyro_roll = roll;
+               gyro_pitch = pitch;
+               gyro_yaw = yaw;
                update_orient();
        }
 
@@ -1009,15 +998,11 @@ public class AltosState extends AltosDataListener {
        }
 
        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;
+               return mag_through;
        }
 
        public void set_companion(AltosCompanion companion) {
@@ -1081,8 +1066,6 @@ public class AltosState extends AltosDataListener {
 
        public AltosState (AltosCalData cal_data) {
                super(cal_data);
-               if (cal_data == null)
-                       Thread.dumpStack();
                init();
        }
 }