package org.altusmetrum.altoslib_1;
-public class AltosState {
+public class AltosState implements Cloneable {
public AltosRecord data;
/* derived data */
public int state;
public boolean landed;
public boolean ascent; /* going up? */
- public boolean boost; /* under power */
+ public boolean boost; /* under power */
public double ground_altitude;
public double altitude;
public double height;
public double pressure;
public double acceleration;
- public double battery;
+ 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 speed;
+
+ public double prev_height;
+ public double prev_speed;
+ public double prev_acceleration;
public double max_height;
public double max_acceleration;
- public double max_accel_speed;
- public double max_baro_speed;
+ public double max_speed;
+
+ public double kalman_height, kalman_speed, kalman_acceleration;
public AltosGPS gps;
public int gps_sequence;
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 String callsign;
+ public double accel_plus_g;
+ public double accel_minus_g;
+ public double accel;
+ public double ground_accel;
+
+ public int log_format;
+ public int serial;
+
+ public AltosMs5607 baro;
+
public double speed() {
- if (ascent)
- return accel_speed;
- else
- return baro_speed;
+ return speed;
}
public double max_speed() {
- if (max_accel_speed != 0)
- return max_accel_speed;
- return max_baro_speed;
+ return max_speed;
+ }
+
+ 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 void init() {
+ data = new AltosRecord();
+
+ report_time = System.currentTimeMillis();
+ time = AltosRecord.MISSING;
+ time_change = AltosRecord.MISSING;
+ tick = AltosRecord.MISSING;
+ state = AltosLib.ao_flight_invalid;
+ landed = false;
+ boost = false;
+
+ ground_altitude = AltosRecord.MISSING;
+ altitude = AltosRecord.MISSING;
+ height = AltosRecord.MISSING;
+ pressure = AltosRecord.MISSING;
+ acceleration = AltosRecord.MISSING;
+ temperature = AltosRecord.MISSING;
+
+ prev_height = AltosRecord.MISSING;
+ prev_speed = AltosRecord.MISSING;
+ prev_acceleration = AltosRecord.MISSING;
+
+ battery_voltage = AltosRecord.MISSING;
+ pyro_voltage = AltosRecord.MISSING;
+ apogee_voltage = AltosRecord.MISSING;
+ main_voltage = AltosRecord.MISSING;
+
+
+ accel_speed = AltosRecord.MISSING;
+ baro_speed = AltosRecord.MISSING;
+
+ kalman_height = AltosRecord.MISSING;
+ kalman_speed = AltosRecord.MISSING;
+ kalman_acceleration = AltosRecord.MISSING;
+
+ max_baro_speed = 0;
+ max_accel_speed = 0;
+ max_height = 0;
+ max_acceleration = 0;
+
+ gps = null;
+ gps_sequence = 0;
+
+ imu = null;
+ mag = null;
+
+ set_npad(0);
+ ngps = 0;
+
+ from_pad = null;
+ elevation = AltosRecord.MISSING;
+ range = AltosRecord.MISSING;
+ gps_height = AltosRecord.MISSING;
+
+ pat_lat = AltosRecord.MISSING;
+ pad_lon = AltosRecord.MISSING;
+ pad_alt = AltosRecord.MISSING;
+
+ speak_tick = AltosRecord.MISSING;
+ speak_altitude = AltosRecord.MISSING;
+
+ callsign = null;
+
+ accel_plus_g = AltosRecord.MISSING;
+ accel_minus_g = AltosRecord.MISSING;
+ log_format = AltosRecord.MISSING;
+ serial = AltosRecord.MISSING;
+
+ baro = null;
+ }
+
+ void copy(AltosState old) {
+
+ data = null;
+
+ if (old == null) {
+ init();
+ return;
+ }
+
+ report_time = old.report_time;
+ time = old.time;
+ time_change = old.time_change;
+ tick = old.tick;
+
+ state = old.state;
+ landed = old.landed;
+ ascent = old.ascent;
+ boost = old.boost;
+
+ ground_altitude = old.ground_altitude;
+ altitude = old.altitude;
+ height = old.height;
+ pressure = old.pressure;
+ acceleration = 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;
+ accel_speed = old.accel_speed;
+ baro_speed = old.baro_speed;
+
+ prev_height = old.height;
+ prev_speed = old.speed;
+ prev_acceleration = old.acceleration;
+
+ max_height = old.max_height;
+ max_acceleration = old.max_acceleration;
+ max_accel_speed = old.max_accel_speed;
+ max_baro_speed = old.max_baro_speed;
+
+ kalman_height = old.kalman_height;
+ kalman_speed = old.kalman_speed;
+ kalman_acceleration = old.kalman_acceleration;
+
+ if (old.gps != null)
+ gps = old.gps.clone();
+ else
+ gps = null;
+ gps_sequence = old.gps_sequence;
+
+ 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;
+ log_format = old.log_format;
+ serial = old.serial;
+
+ baro = old.baro;
+ }
+
+ double ground_altitude() {
+
+ }
+
+ double altitude() {
+ if (altitude != AltosRecord.MISSING)
+ return altitude;
+ if (gps != null)
+ return gps.alt;
+ return AltosRecord.MISSING;
+ }
+
+ void update_vertical_pos() {
+
+ double alt = altitude();
+ if (state == AltosLib.ao_flight_pad) {
+
+ }
+
+ if (kalman_height != AltosRecord.MISSING)
+ height = kalman_height;
+ else if (altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING)
+ height = altitude - ground_altitude;
+ else
+ height = AltosRecord.MISSING;
+
+ update_speed();
+ }
+
+ double motion_filter_value() {
+ return 1/ Math.exp(time_change/10.0);
+ }
+
+ void update_speed() {
+ if (kalman_speed != AltosRecord.MISSING)
+ speed = kalman_speed;
+ else if (state != AltosLib.ao_flight_invalid &&
+ time_change != AltosRecord.MISSING)
+ {
+ if (ascent && acceleration != AltosRecord.MISSING)
+ {
+ if (prev_speed == AltosRecord.MISSING)
+ speed = acceleration * time_change;
+ else
+ speed = prev_speed + acceleration * time_change;
+ }
+ else if (height != AltosRecord.MISSING &&
+ prev_height != AltosRecord.MISSING &&
+ time_change != 0)
+ {
+ double new_speed = (height - prev_height) / time_change;
+
+ if (prev_speed == AltosRecord.MISSING)
+ speed = new_speed;
+ else {
+ double filter = motion_filter_value();
+
+ speed = prev_speed * filter + new_speed * (1-filter);
+ }
+ }
+ }
+ if (acceleration == AltosRecord.MISSING) {
+ if (prev_speed != AltosRecord.MISSING && time_change != 0) {
+ double new_acceleration = (speed - prev_speed) / time_change;
+
+ if (prev_acceleration == AltosRecord.MISSING)
+ acceleration = new_acceleration;
+ else {
+ double filter = motion_filter_value();
+
+ acceleration = prev_acceleration * filter + new_acceleration * (1-filter);
+ }
+ }
+ }
+ }
+
+ void update_accel() {
+ if (accel == AltosRecord.MISSING)
+ return;
+ if (ground_Accel == AltosRecord.MISSING)
+ return;
+ if (accel_plus_g == AltosRecord.MISSING)
+ return;
+ if (accel_minus_g == AltosRecord.MISSING)
+ return;
+
+ double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
+ double counts_per_mss = counts_per_g / 9.80665;
+
+ acceleration = (ground_accel - accel) / counts_per_mss;
+ update_speed();
+ }
+
+ public void set_tick(int tick) {
+ if (tick != AltosRecord.MISSING) {
+ if (this.tick != AltosRecord.MISSING) {
+ while (tick < this.tick)
+ tick += 65536;
+ time_change = (tick - this.tick) / 100.0;
+ } else
+ time_change = 0;
+ this.tick = tick;
+ update_time();
+ }
+ }
+
+ 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_altitude(double altitude) {
+ if (altitude != AltosRecord.MISSING) {
+ this.altitude = altitude;
+ update_vertical_pos();
+ }
+ }
+
+ public void set_ground_altitude(double ground_altitude) {
+ if (ground_altitude != AltosRecord.MISSING) {
+ this.ground_altitude = ground_altitude;
+ update_vertical_pos();
+ }
+ }
+
+ public void set_gps(AltosGPS gps, int sequence) {
+ if (gps != null) {
+ this.gps = gps.clone();
+ gps_sequence = sequence;
+ update_vertical_pos();
+ }
+ }
+
+ public void set_kalman(double height, double speed, double acceleration) {
+ if (height != AltosRecord.MISSING) {
+ kalman_height = height;
+ kalman_speed = speed;
+ kalman_acceleration = acceleration;
+ baro_speed = accel_speed = speed;
+ update_vertical_pos();
+ }
+ }
+
+ public void set_pressure(double pressure) {
+ if (pressure != AltosRecord.MISSING) {
+ this.pressure = pressure;
+ set_altitude(AltosConvert.pressure_to_altitude(pressure));
+ }
+ }
+
+ public void set_accel_g(double accel_plus_g, double accel_minus_g) {
+ if (accel_plus_g != AltosRecord.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 != AltosRecord.MISSING) {
+ this.ground_accel = ground_accel;
+ update_accel();
+ }
+ }
+
+ public void set_accel(double accel) {
+ if (accel != AltosRecord.MISSING) {
+ this.accel = accel;
+ }
+ update_accel();
+ }
+
+ public void set_temperature(double temperature) {
+ if (temperature != AltosRecord.MISSING)
+ this.temperature = temperature;
+ }
+
+ public void set_battery_voltage(double battery_voltage) {
+ if (battery_voltage != AltosRecord.MISSING)
+ this.battery_voltage = battery_voltage;
+ }
+
+ public void set_pyro_voltage(double pyro_voltage) {
+ if (pyro_voltage != AltosRecord.MISSING)
+ this.pyro_voltage = pyro_voltage;
+ }
+
+ public void set_apogee_voltage(double apogee_voltage) {
+ if (apogee_voltage != AltosRecord.MISSING)
+ this.apogee_voltage = apogee_voltage;
+ }
+
+ public void set_main_voltage(double main_voltage) {
+ if (main_voltage != AltosRecord.MISSING)
+ this.main_voltage = main_voltage;
}
public void init (AltosRecord cur, AltosState prev_state) {
+
+ if (cur == null)
+ cur = new AltosRecord();
+
data = cur;
/* Discard previous state if it was for a different board */
- if (prev_state != null && prev_state.data.serial != data.serial)
+ if (prev_state != null && prev_state.serial != cur.serial)
prev_state = null;
- ground_altitude = data.ground_altitude();
- altitude = data.altitude();
- if (altitude == AltosRecord.MISSING && data.gps != null)
- altitude = data.gps.alt;
+ copy(prev_state);
- height = AltosRecord.MISSING;
- if (data.kalman_height != AltosRecord.MISSING)
- height = data.kalman_height;
- else {
- if (altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING) {
- double cur_height = altitude - ground_altitude;
- if (prev_state == null || prev_state.height == AltosRecord.MISSING)
- height = cur_height;
- else
- height = (prev_state.height * 15 + cur_height) / 16.0;
- }
- }
+ set_ground_altitude(data.ground_altitude());
+ set_altitude(data.altitude());
+
+ set_kalman(data.kalman_height, data.kalman_speed, data.kalman_acceleration);
report_time = System.currentTimeMillis();
- 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();
- pressure = data.pressure();
- tick = data.tick;
- state = data.state;
+ set_temperature(data.temperature());
+ set_apogee_voltage(data.drogue_voltage());
+ set_main_voltage(data.main_voltage());
+ set_battery_voltage(data.battery_voltage());
- if (prev_state != null) {
+ set_pressure(data.pressure());
- /* Preserve any existing gps data */
- npad = prev_state.npad;
- ngps = prev_state.ngps;
- gps = prev_state.gps;
- gps_sequence = prev_state.gps_sequence;
- 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;
+ set_tick(data.tick);
+ set_state(data.state);
+
+ set_accel_g (data.accel_minus_g, data.accel_plus_g);
+ set_ground_accel(data.ground_accel);
+ set_accel (data.accel);
+
+ set_gps(data.gps, data.gps_sequence);
+
+ if (prev_state != null) {
if (data.kalman_speed != AltosRecord.MISSING) {
baro_speed = accel_speed = data.kalman_speed;
max_height = 0;
max_acceleration = 0;
time_change = 0;
+ baro = new AltosMs5607();
+ callsign = "";
+ accel_plus_g = AltosRecord.MISSING;
+ accel_minus_g = AltosRecord.MISSING;
+ log_format = AltosRecord.MISSING;
+ serial = AltosRecord.MISSING;
}
time = tick / 100.0;
/* Track consecutive 'good' gps reports, waiting for 10 of them */
if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
- npad++;
+ set_npad(npad+1);
else
- npad = 0;
+ set_npad(0);
/* Average GPS data while on the pad */
if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
gps_sequence = data.gps_sequence;
- gps_waiting = MIN_PAD_SAMPLES - npad;
- if (gps_waiting < 0)
- gps_waiting = 0;
-
- gps_ready = gps_waiting == 0;
-
- 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 != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
max_acceleration = acceleration;
}
}
+ public AltosState clone() {
+ AltosState s = new AltosState(data, this);
+ return s;
+ }
+
public AltosState(AltosRecord cur) {
init(cur, null);
}
projects / fw / altos / blobdiff