* Track flight state from telemetry or eeprom data stream
*/
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_2;
-public class AltosState {
- public AltosRecord data;
+public class AltosState implements Cloneable {
+
+ public static final int set_position = 1;
+ public static final int set_gps = 2;
+ public static final int set_data = 4;
+
+ public int set;
+
+ static final double ascent_filter_len = 0.1;
+ static final double descent_filter_len = 2.0;
/* derived data */
- public long report_time;
+ 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;
+
+ class AltosValue {
+ private double value;
+ private double prev_value;
+ private double max_value;
+ private double set_time;
+ private double prev_set_time;
+ private double max_rate = 1000.0;
+
+ void set(double new_value, double time) {
+ if (new_value != AltosLib.MISSING) {
+ value = new_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 != AltosLib.MISSING)
+ new_value = (prev_value * 15.0 + new_value) / 16.0;
+ set(new_value, time);
+ }
+
+ double value() {
+ return value;
+ }
+
+ double max() {
+ return max_value;
+ }
+
+ double prev() {
+ return prev_value;
+ }
+
+ double change() {
+ if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
+ return value - prev_value;
+ return AltosLib.MISSING;
+ }
+
+ double rate() {
+ double c = change();
+ double t = set_time - prev_set_time;
+
+ if (c != AltosLib.MISSING && t != 0)
+ return c / t;
+ return AltosLib.MISSING;
+ }
+
+ double integrate() {
+ 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);
+ }
+
+ double time() {
+ return set_time;
+ }
+
+ void set_derivative(AltosValue in) {
+ double n = in.rate();
+
+ if (n == AltosLib.MISSING)
+ return;
+
+ double p = prev_value;
+ double pt = prev_set_time;
+
+ if (p == AltosLib.MISSING) {
+ p = 0;
+ pt = in.time() - 0.01;
+ }
+
+ /* Clip changes to reduce noise */
+ double ddt = in.time() - pt;
+ double ddv = (n - p) / ddt;
+
+ /* 100gs */
+ if (Math.abs(ddv) > 1000) {
+ if (n > p)
+ n = p + ddt * 1000;
+ else
+ n = p - ddt * 1000;
+ }
+
+ double filter_len;
+
+ if (ascent)
+ filter_len = ascent_filter_len;
+ else
+ filter_len = descent_filter_len;
+
+ double f = 1/Math.exp(ddt/ filter_len);
+ n = p * f + n * (1-f);
+
+ set(n, in.time());
+ }
+
+ void set_integral(AltosValue in) {
+ double change = in.integrate();
+
+ if (change != AltosLib.MISSING) {
+ double prev = prev_value;
+ if (prev == AltosLib.MISSING)
+ prev = 0;
+ set(prev + change, in.time());
+ }
+ }
+
+ void copy(AltosValue old) {
+ value = old.value;
+ set_time = old.set_time;
+ prev_value = old.value;
+ prev_set_time = old.set_time;
+ max_value = old.max_value;
+ }
+
+ void finish_update() {
+ prev_value = value;
+ prev_set_time = set_time;
+ }
+
+ AltosValue() {
+ value = AltosLib.MISSING;
+ prev_value = AltosLib.MISSING;
+ max_value = AltosLib.MISSING;
+ }
+ }
+
+ class AltosCValue {
+ AltosValue measured;
+ AltosValue computed;
+
+ double value() {
+ double v = measured.value();
+ if (v != AltosLib.MISSING)
+ return v;
+ return computed.value();
+ }
+
+ boolean is_measured() {
+ return measured.value() != AltosLib.MISSING;
+ }
+
+ double max() {
+ double m = measured.max();
+
+ if (m != AltosLib.MISSING)
+ return m;
+ return computed.max();
+ }
+
+ double prev_value() {
+ if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
+ return measured.prev_value;
+ return computed.prev_value;
+ }
+
+ AltosValue altos_value() {
+ if (measured.value() != AltosLib.MISSING)
+ return measured;
+ return computed;
+ }
+
+ double change() {
+ double c = measured.change();
+ if (c == AltosLib.MISSING)
+ c = computed.change();
+ return c;
+ }
+
+ double rate() {
+ double r = measured.rate();
+ if (r == AltosLib.MISSING)
+ r = computed.rate();
+ return r;
+ }
+
+ void set_measured(double new_value, double time) {
+ measured.set(new_value, time);
+ }
+
+ void set_computed(double new_value, double time) {
+ computed.set(new_value, time);
+ }
+
+ void set_derivative(AltosValue in) {
+ computed.set_derivative(in);
+ }
+
+ void set_derivative(AltosCValue in) {
+ set_derivative(in.altos_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);
+ }
+
+ 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 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)
+ return AltosLib.MISSING;
+ return AltosConvert.pressure_to_altitude(p);
+ }
+
+ private AltosCValue ground_altitude;
+
+ public double ground_altitude() {
+ return ground_altitude.value();
+ }
+
+ public void set_ground_altitude(double a) {
+ ground_altitude.set_measured(a, time);
+ }
+
+ class AltosGroundPressure extends AltosCValue {
+ void set_filtered(double p, double time) {
+ computed.set_filtered(p, 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);
+ }
+ }
+
+ private AltosGroundPressure ground_pressure;
+
+ public double ground_pressure() {
+ return ground_pressure.value();
+ }
+
+ public void set_ground_pressure (double pressure) {
+ ground_pressure.set_measured(pressure, time);
+ }
+
+ class AltosAltitude extends AltosCValue {
+
+ private void set_speed(AltosValue v) {
+ if (!acceleration.is_measured() || !ascent)
+ speed.set_derivative(this);
+ }
+
+ void set_computed(double a, double time) {
+ super.set_computed(a,time);
+ set_speed(computed);
+ set |= set_position;
+ }
+
+ void set_measured(double a, double time) {
+ super.set_measured(a,time);
+ set_speed(measured);
+ set |= set_position;
+ }
+ }
+
+ private AltosAltitude altitude;
+
+ public double altitude() {
+ double a = altitude.value();
+ if (a != AltosLib.MISSING)
+ return a;
+ if (gps != null)
+ return gps.alt;
+ return AltosLib.MISSING;
+ }
+
+ public double max_altitude() {
+ double a = altitude.max();
+ if (a != AltosLib.MISSING)
+ return a;
+ return AltosLib.MISSING;
+ }
+
+ public void set_altitude(double new_altitude) {
+ 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)
+ ground_pressure.set_filtered(p, time);
+ double a = pressure_to_altitude(p);
+ altitude.set_computed(a, time);
+ }
+ }
+
+ private AltosPressure pressure;
+
+ public double pressure() {
+ return pressure.value();
+ }
+
+ public void set_pressure(double p) {
+ pressure.set(p, time);
+ }
+
+ public double height() {
+ double k = kalman_height.value();
+ if (k != AltosLib.MISSING)
+ return k;
+
+ double a = altitude();
+ double g = ground_altitude();
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+ return a - g;
+ return AltosLib.MISSING;
+ }
+
+ public double max_height() {
+ double k = kalman_height.max();
+ if (k != AltosLib.MISSING)
+ return k;
+
+ double a = altitude.max();
+ double g = ground_altitude();
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+ return a - g;
+ return AltosLib.MISSING;
+ }
+
+ class AltosSpeed extends AltosCValue {
+
+ void set_accel() {
+ acceleration.set_derivative(this);
+ }
+
+ void set_derivative(AltosCValue in) {
+ super.set_derivative(in);
+ set_accel();
+ }
+
+ void set_computed(double new_value, double time) {
+ super.set_computed(new_value, time);
+ set_accel();
+ }
+
+ void set_measured(double new_value, double time) {
+ super.set_measured(new_value, time);
+ set_accel();
+ }
+ }
+
+ private AltosSpeed speed;
+
+ public double speed() {
+ double v = kalman_speed.value();
+ if (v != AltosLib.MISSING)
+ return v;
+ return speed.value();
+ }
- public double ground_altitude;
- public double altitude;
- public double height;
- public double acceleration;
- public double battery;
+ public double max_speed() {
+ double v = kalman_speed.max();
+ if (v != AltosLib.MISSING)
+ return v;
+ return speed.max();
+ }
+
+ class AltosAccel extends AltosCValue {
+ void set_measured(double a, double time) {
+ super.set_measured(a, time);
+ if (ascent)
+ speed.set_integral(this.measured);
+ }
+ }
+
+ AltosAccel acceleration;
+
+ public double acceleration() {
+ return acceleration.value();
+ }
+
+ public double max_acceleration() {
+ return acceleration.max();
+ }
+
+ public AltosValue kalman_height, kalman_speed, kalman_acceleration;
+
+ public void set_kalman(double height, double speed, double acceleration) {
+ kalman_height.set(height, time);
+ kalman_speed.set(speed, time);
+ kalman_acceleration.set(acceleration, time);
+ }
+
+ public double battery_voltage;
+ public double pyro_voltage;
public double temperature;
- public double main_sense;
- public double drogue_sense;
- public double accel_speed;
- public double baro_speed;
+ public double apogee_voltage;
+ public double main_voltage;
- public double max_height;
- public double max_acceleration;
- public double max_accel_speed;
- public double max_baro_speed;
+ public double ignitor_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 int npad;
- public int ngps;
public int gps_waiting;
public boolean gps_ready;
+ public int ngps;
+
public AltosGreatCircle from_pad;
public double elevation; /* from pad */
public double range; /* total distance */
public int speak_tick;
public double speak_altitude;
- public double speed() {
- if (ascent)
- return accel_speed;
- else
- return baro_speed;
+ 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 void set_npad(int npad) {
+ this.npad = npad;
+ gps_waiting = MIN_PAD_SAMPLES - npad;
+ if (this.gps_waiting < 0)
+ gps_waiting = 0;
+ gps_ready = gps_waiting == 0;
}
- public double max_speed() {
- if (max_accel_speed != 0)
- return max_accel_speed;
- return max_baro_speed;
+ public void 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();
+ altitude = new AltosAltitude();
+ pressure = new AltosPressure();
+ speed = new AltosSpeed();
+ acceleration = new AltosAccel();
+
+ 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();
+ 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;
+
+ set_npad(0);
+ ngps = 0;
+
+ from_pad = null;
+ elevation = AltosLib.MISSING;
+ range = AltosLib.MISSING;
+ gps_height = AltosLib.MISSING;
+
+ pad_lat = AltosLib.MISSING;
+ pad_lon = AltosLib.MISSING;
+ pad_alt = AltosLib.MISSING;
+
+ 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;
}
- public void init (AltosRecord cur, AltosState prev_state) {
- data = cur;
+ void finish_update() {
+ prev_tick = tick;
- /* Discard previous state if it was for a different board */
- if (prev_state != null && prev_state.data.serial != data.serial)
- prev_state = null;
- ground_altitude = data.ground_altitude();
+ ground_altitude.finish_update();
+ altitude.finish_update();
+ pressure.finish_update();
+ speed.finish_update();
+ acceleration.finish_update();
- altitude = data.altitude();
+ kalman_height.finish_update();
+ kalman_speed.finish_update();
+ kalman_acceleration.finish_update();
+ }
- if (data.kalman_height != AltosRecord.MISSING)
- height = data.kalman_height;
- else {
- if (prev_state != null)
- height = (prev_state.height * 15 + altitude - ground_altitude) / 16.0;
+ void copy(AltosState old) {
+
+ if (old == null) {
+ init();
+ return;
}
- report_time = System.currentTimeMillis();
+ 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;
- if (data.kalman_acceleration != AltosRecord.MISSING)
- acceleration = data.kalman_acceleration;
- else
- acceleration = data.acceleration();
- temperature = data.temperature();
- drogue_sense = data.drogue_voltage();
- main_sense = data.main_voltage();
- battery = data.battery_voltage();
- tick = data.tick;
- state = data.state;
-
- if (prev_state != null) {
-
- /* Preserve any existing gps data */
- npad = prev_state.npad;
- ngps = prev_state.ngps;
- gps = prev_state.gps;
- pad_lat = prev_state.pad_lat;
- pad_lon = prev_state.pad_lon;
- pad_alt = prev_state.pad_alt;
- max_height = prev_state.max_height;
- max_acceleration = prev_state.max_acceleration;
- max_accel_speed = prev_state.max_accel_speed;
- max_baro_speed = prev_state.max_baro_speed;
- imu = prev_state.imu;
- mag = prev_state.mag;
-
- /* make sure the clock is monotonic */
- while (tick < prev_state.tick)
- tick += 65536;
-
- time_change = (tick - prev_state.tick) / 100.0;
-
- if (data.kalman_speed != AltosRecord.MISSING) {
- baro_speed = accel_speed = data.kalman_speed;
- } else {
- /* compute barometric speed */
-
- double height_change = height - prev_state.height;
- if (time_change > 0)
- baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
- else
- baro_speed = prev_state.baro_speed;
-
- if (acceleration == AltosRecord.MISSING) {
- /* Fill in mising acceleration value */
- accel_speed = baro_speed;
- if (time_change > 0)
- acceleration = (accel_speed - prev_state.accel_speed) / time_change;
- else
- acceleration = prev_state.acceleration;
- } else {
- /* compute accelerometer speed */
- accel_speed = prev_state.accel_speed + acceleration * time_change;
- }
- }
+ 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);
+
+ 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;
- } else {
- npad = 0;
- ngps = 0;
+ 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;
- baro_speed = 0;
- accel_speed = 0;
- time_change = 0;
- if (acceleration == AltosRecord.MISSING)
- acceleration = 0;
- }
+ 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;
- time = tick / 100.0;
+ 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;
- if (cur.new_gps && (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_idle)) {
+ 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;
+
+ if (gps == null)
+ return;
+
+ if (gps.locked && gps.nsat >= 4) {
/* Track consecutive 'good' gps reports, waiting for 10 of them */
- if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
- npad++;
- else
- npad = 0;
-
- /* Average GPS data while on the pad */
- if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
- if (ngps > 1) {
- /* filter pad position */
- pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
- pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
- pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
- } else {
- pad_lat = data.gps.lat;
- pad_lon = data.gps.lon;
- pad_alt = data.gps.alt;
+ if (state == AltosLib.ao_flight_pad) {
+ set_npad(npad+1);
+ 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;
}
- ngps++;
}
- } else {
- if (ngps == 0)
- pad_alt = ground_altitude;
+ 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 != AltosLib.MISSING &&
+ pad_lon != AltosLib.MISSING)
+ {
+ double h = height();
- gps_waiting = MIN_PAD_SAMPLES - npad;
- if (gps_waiting < 0)
- gps_waiting = 0;
+ if (h == AltosLib.MISSING)
+ h = 0;
+ from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
+ elevation = from_pad.elevation;
+ range = from_pad.range;
+ gps_height = gps.alt - pad_alt;
+ }
+ }
- gps_ready = gps_waiting == 0;
+ 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_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;
+ }
- ascent = (AltosLib.ao_flight_boost <= state &&
- state <= AltosLib.ao_flight_coast);
- boost = (AltosLib.ao_flight_boost == state);
-
- /* Only look at accelerometer data under boost */
- if (boost && acceleration > max_acceleration && acceleration != AltosRecord.MISSING)
- max_acceleration = acceleration;
- if (boost && accel_speed > max_accel_speed && accel_speed != AltosRecord.MISSING)
- max_accel_speed = accel_speed;
- if (boost && baro_speed > max_baro_speed && baro_speed != AltosRecord.MISSING)
- max_baro_speed = baro_speed;
-
- if (height > max_height && height != AltosRecord.MISSING)
- max_height = height;
- if (data.gps != null) {
- if (gps == null || !gps.locked || data.gps.locked)
- gps = data.gps;
- if (ngps > 0 && gps.locked) {
- from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
+ 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;
}
- elevation = 0;
- range = -1;
- if (ngps > 0) {
- gps_height = gps.alt - pad_alt;
- if (from_pad != null) {
- elevation = Math.atan2(height, from_pad.distance) * 180 / Math.PI;
- range = Math.sqrt(height * height + from_pad.distance * from_pad.distance);
+ }
+
+ 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;
+ }
+
+ public int rssi() {
+ if (rssi == AltosLib.MISSING)
+ return 0;
+ return rssi;
+ }
+
+ public void set_rssi(int rssi, int status) {
+ if (rssi != AltosLib.MISSING) {
+ this.rssi = rssi;
+ this.status = status;
+ }
+ }
+
+ public void set_received_time(long ms) {
+ received_time = ms;
+ }
+
+ public void set_gps(AltosGPS gps, int sequence) {
+ if (gps != null) {
+ this.gps = gps.clone();
+ gps_sequence = sequence;
+ update_gps();
+ set |= set_gps;
+ }
+ }
+
+ 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) {
+ if (baro != null) {
+ baro.set(pres, temp);
+
+ set_pressure(baro.pa);
+ set_temperature(baro.cc / 100.0);
+ }
+ }
+
+ public void make_companion (int nchannels) {
+ if (companion == null)
+ companion = new AltosCompanion(nchannels);
+ }
+
+ public void set_companion(AltosCompanion companion) {
+ this.companion = companion;
+ }
+
+ void update_accel() {
+ double ground = ground_accel;
+
+ 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;
+
+ 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 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;
+ update_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;
}
- } else {
- gps_height = 0;
}
+ update_accel();
+ }
+
+ public void set_temperature(double temperature) {
+ if (temperature != AltosLib.MISSING) {
+ this.temperature = temperature;
+ set |= set_data;
+ }
+ }
+
+ public void set_battery_voltage(double battery_voltage) {
+ if (battery_voltage != AltosLib.MISSING) {
+ this.battery_voltage = battery_voltage;
+ set |= set_data;
+ }
+ }
+
+ public void set_pyro_voltage(double pyro_voltage) {
+ if (pyro_voltage != AltosLib.MISSING) {
+ this.pyro_voltage = pyro_voltage;
+ set |= set_data;
+ }
+ }
+
+ public void set_apogee_voltage(double apogee_voltage) {
+ if (apogee_voltage != AltosLib.MISSING) {
+ this.apogee_voltage = apogee_voltage;
+ set |= set_data;
+ }
+ }
+
+ public void set_main_voltage(double main_voltage) {
+ if (main_voltage != AltosLib.MISSING) {
+ this.main_voltage = main_voltage;
+ set |= set_data;
+ }
+ }
+
+ 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 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(AltosRecord cur) {
- init(cur, null);
+ public AltosState clone() {
+ AltosState s = new AltosState();
+ s.copy(this);
+ return s;
}
- public AltosState (AltosRecord cur, AltosState prev) {
- init(cur, prev);
+ public AltosState () {
+ init();
}
}
projects / fw / altos / blobdiff