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altoslib/altosui: Further AltosState transition work
[fw/altos] / altoslib / AltosState.java
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index aa3de432a75fa2e7feaaf9522d967ba1555213ed..b80d7b2ec6a26514884cff6fadfb4b4cd3353c70 100644 (file)
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -32,7 +32,7 @@ public class AltosState implements Cloneable {
 
        /* derived data */
 
-       public long     report_time;
+       public long     received_time;
 
        public double   time;
        public double   prev_time;
@@ -48,6 +48,12 @@ public class AltosState implements Cloneable {
        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;
 
        public double   ground_altitude;
        public double   ground_pressure;
@@ -61,11 +67,16 @@ public class AltosState implements Cloneable {
        public double   apogee_voltage;
        public double   main_voltage;
        public double   speed;
+       public double   ignitor_voltage[];
 
        public double   prev_height;
        public double   prev_speed;
        public double   prev_acceleration;
 
+       public double   prev_max_height;
+       public double   prev_max_acceleration;
+       public double   prev_max_speed;
+
        public double   max_height;
        public double   max_acceleration;
        public double   max_speed;
@@ -100,6 +111,8 @@ public class AltosState implements Cloneable {
        public double   speak_altitude;
 
        public String   callsign;
+       public String   firmware_version;
+
        public double   accel_plus_g;
        public double   accel_minus_g;
        public double   accel;
@@ -133,7 +146,7 @@ public class AltosState implements Cloneable {
 
                set = 0;
 
-               report_time = System.currentTimeMillis();
+               received_time = System.currentTimeMillis();
                time = AltosRecord.MISSING;
                time_change = AltosRecord.MISSING;
                prev_time = AltosRecord.MISSING;
@@ -145,6 +158,12 @@ public class AltosState implements Cloneable {
                boost = false;
                rssi = AltosRecord.MISSING;
                status = 0;
+               device_type = AltosRecord.MISSING;
+               config_major = AltosRecord.MISSING;
+               config_minor = AltosRecord.MISSING;
+               apogee_delay = AltosRecord.MISSING;
+               main_deploy = AltosRecord.MISSING;
+               flight_log_max = AltosRecord.MISSING;
 
                ground_altitude = AltosRecord.MISSING;
                ground_pressure = AltosRecord.MISSING;
@@ -158,10 +177,15 @@ public class AltosState implements Cloneable {
                prev_speed = AltosRecord.MISSING;
                prev_acceleration = AltosRecord.MISSING;
 
+               prev_max_height = 0;
+               prev_max_speed = 0;
+               prev_max_acceleration = 0;
+
                battery_voltage = AltosRecord.MISSING;
                pyro_voltage = AltosRecord.MISSING;
                apogee_voltage = AltosRecord.MISSING;
                main_voltage = AltosRecord.MISSING;
+               ignitor_voltage = null;
 
                speed = AltosRecord.MISSING;
 
@@ -219,7 +243,7 @@ public class AltosState implements Cloneable {
                        return;
                }
 
-               report_time = old.report_time;
+               received_time = old.received_time;
                time = old.time;
                time_change = 0;
                tick = old.tick;
@@ -232,6 +256,12 @@ public class AltosState implements Cloneable {
                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;
 
@@ -245,11 +275,16 @@ public class AltosState implements Cloneable {
                temperature = old.temperature;
                apogee_voltage = old.apogee_voltage;
                main_voltage = old.main_voltage;
+               ignitor_voltage = old.ignitor_voltage;
                speed = old.speed;
 
                prev_height = old.height;
                prev_speed = old.speed;
                prev_acceleration = old.acceleration;
+
+               prev_max_height = old.max_height;
+               prev_max_speed = old.max_speed;
+               prev_max_acceleration = old.max_acceleration;
                prev_time = old.time;
 
                max_height = old.max_height;
@@ -343,7 +378,7 @@ public class AltosState implements Cloneable {
                else
                        height = AltosRecord.MISSING;
 
-               if (height != AltosRecord.MISSING && height > max_height)
+               if (height != AltosRecord.MISSING && height > prev_max_height)
                        max_height = height;
 
                update_speed();
@@ -394,31 +429,34 @@ public class AltosState implements Cloneable {
                                }
                        }
                }
-               if (boost && speed != AltosRecord.MISSING && speed > max_speed)
+               if (boost && speed != AltosRecord.MISSING && speed > prev_max_speed)
                        max_speed = speed;
        }
        
        void update_accel() {
-               double  ground = ground_accel;
-
-               if (ground == AltosRecord.MISSING)
-                       ground = ground_accel_avg;
-               if (accel == AltosRecord.MISSING)
-                       return;
-               if (ground == 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) / counts_per_mss;
+               if (kalman_acceleration != AltosRecord.MISSING) {
+                       acceleration = kalman_acceleration;
+               } else {
+                       double  ground = ground_accel;
+
+                       if (ground == AltosRecord.MISSING)
+                               ground = ground_accel_avg;
+                       if (accel == AltosRecord.MISSING)
+                               return;
+                       if (ground == 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) / counts_per_mss;
+               }
 
                /* Only look at accelerometer data under boost */
-               if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
+               if (boost && acceleration != AltosRecord.MISSING && acceleration > prev_max_acceleration)
                        max_acceleration = acceleration;
                update_speed();
        }
@@ -502,6 +540,26 @@ public class AltosState implements Cloneable {
 
        }
 
+       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 */
@@ -538,6 +596,10 @@ public class AltosState implements Cloneable {
                }
        }
 
+       public void set_received_time(long ms) {
+               received_time = ms;
+       }
+
        public void set_altitude(double altitude) {
                if (altitude != AltosRecord.MISSING) {
                        this.altitude = altitude;
@@ -577,6 +639,8 @@ public class AltosState implements Cloneable {
                        kalman_speed = speed;
                        kalman_acceleration = acceleration;
                        update_vertical_pos();
+                       update_speed();
+                       update_accel();
                }
        }
 
@@ -672,6 +736,9 @@ public class AltosState implements Cloneable {
                }
        }
 
+       public void set_ignitor_voltage(double[] voltage) {
+               this.ignitor_voltage = voltage;
+       }
 
        public double time_since_boost() {
                if (tick == AltosRecord.MISSING)
@@ -702,6 +769,13 @@ public class AltosState implements Cloneable {
                temp_gps = null;
        }
 
+       public AltosState clone() {
+               AltosState s = new AltosState();
+               s.copy(this);
+               return s;
+       }
+
+
        public void init (AltosRecord cur, AltosState prev_state) {
 
                System.out.printf ("init\n");
@@ -721,7 +795,7 @@ public class AltosState implements Cloneable {
 
                set_kalman(cur.kalman_height, cur.kalman_speed, cur.kalman_acceleration);
 
-               report_time = System.currentTimeMillis();
+               received_time = System.currentTimeMillis();
 
                set_temperature(cur.temperature());
                set_apogee_voltage(cur.drogue_voltage());
@@ -742,12 +816,6 @@ public class AltosState implements Cloneable {
 
        }
 
-       public AltosState clone() {
-               AltosState s = new AltosState();
-               s.copy(this);
-               return s;
-       }
-
        public AltosState(AltosRecord cur) {
                init(cur, null);
        }
@@ -756,6 +824,7 @@ public class AltosState implements Cloneable {
                init(cur, prev);
        }
 
+
        public AltosState () {
                init();
        }
AltOS - the operating system for Altus Metrum products