package org.altusmetrum.altoslib_1;
public class AltosState implements Cloneable {
- public AltosRecord data;
+ public AltosRecord record;
+
+ public static final int set_position = 1;
+ public static final int set_gps = 2;
+ public static final int set_data = 4;
+
+ public int set;
/* derived data */
- public long report_time;
+ public long received_time;
public double time;
+ public double prev_time;
public double time_change;
public int tick;
+ public int boost_tick;
public int state;
+ public int flight;
+ public int 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;
public double ground_altitude;
+ public double ground_pressure;
public double altitude;
public double height;
public double pressure;
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;
public double kalman_height, kalman_speed, kalman_acceleration;
public AltosGPS gps;
+ public AltosGPS temp_gps;
+ public boolean gps_pending;
public int gps_sequence;
public AltosIMU imu;
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 int serial;
public AltosMs5607 baro;
+ public AltosRecordCompanion companion;
+
public double speed() {
return speed;
}
}
public void init() {
- data = new AltosRecord();
+ record = null;
+
+ set = 0;
- report_time = System.currentTimeMillis();
+ received_time = System.currentTimeMillis();
time = AltosRecord.MISSING;
time_change = AltosRecord.MISSING;
+ prev_time = AltosRecord.MISSING;
tick = AltosRecord.MISSING;
+ boost_tick = AltosRecord.MISSING;
state = AltosLib.ao_flight_invalid;
+ flight = AltosRecord.MISSING;
landed = false;
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;
altitude = AltosRecord.MISSING;
height = AltosRecord.MISSING;
pressure = AltosRecord.MISSING;
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;
-
- accel_speed = AltosRecord.MISSING;
- baro_speed = AltosRecord.MISSING;
+ speed = AltosRecord.MISSING;
kalman_height = AltosRecord.MISSING;
kalman_speed = AltosRecord.MISSING;
kalman_acceleration = AltosRecord.MISSING;
- max_baro_speed = 0;
- max_accel_speed = 0;
+ max_speed = 0;
max_height = 0;
max_acceleration = 0;
gps = null;
+ temp_gps = null;
gps_sequence = 0;
+ gps_pending = false;
imu = null;
mag = null;
range = AltosRecord.MISSING;
gps_height = AltosRecord.MISSING;
- pat_lat = AltosRecord.MISSING;
+ pad_lat = AltosRecord.MISSING;
pad_lon = AltosRecord.MISSING;
pad_alt = AltosRecord.MISSING;
accel_plus_g = AltosRecord.MISSING;
accel_minus_g = AltosRecord.MISSING;
+ accel = AltosRecord.MISSING;
+ ground_accel = AltosRecord.MISSING;
+ ground_accel_avg = AltosRecord.MISSING;
log_format = AltosRecord.MISSING;
serial = AltosRecord.MISSING;
baro = null;
+ companion = null;
}
void copy(AltosState old) {
- data = null;
+ record = null;
if (old == null) {
init();
return;
}
- report_time = old.report_time;
+ received_time = old.received_time;
time = old.time;
- time_change = old.time_change;
+ time_change = 0;
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 = old.ground_altitude;
altitude = old.altitude;
temperature = old.temperature;
apogee_voltage = old.apogee_voltage;
main_voltage = old.main_voltage;
- accel_speed = old.accel_speed;
- baro_speed = old.baro_speed;
+ 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;
max_acceleration = old.max_acceleration;
- max_accel_speed = old.max_accel_speed;
- max_baro_speed = old.max_baro_speed;
+ max_speed = old.max_speed;
kalman_height = old.kalman_height;
kalman_speed = old.kalman_speed;
gps = old.gps.clone();
else
gps = null;
+ if (old.temp_gps != null)
+ temp_gps = old.temp_gps.clone();
+ else
+ temp_gps = null;
gps_sequence = old.gps_sequence;
+ gps_pending = old.gps_pending;
if (old.imu != null)
imu = old.imu.clone();
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;
baro = old.baro;
- }
-
- double ground_altitude() {
-
+ companion = old.companion;
}
double altitude() {
void update_vertical_pos() {
double alt = altitude();
- if (state == AltosLib.ao_flight_pad) {
-
+
+ if (state == AltosLib.ao_flight_pad && alt != AltosRecord.MISSING && ground_pressure == AltosRecord.MISSING) {
+ if (ground_altitude == AltosRecord.MISSING)
+ ground_altitude = alt;
+ else
+ ground_altitude = (ground_altitude * 7 + alt) / 8;
}
if (kalman_height != AltosRecord.MISSING)
else
height = AltosRecord.MISSING;
+ if (height != AltosRecord.MISSING && height > prev_max_height)
+ max_height = height;
+
update_speed();
}
double motion_filter_value() {
- return 1/ Math.exp(time_change/10.0);
+ return 1/ Math.exp(time_change/2.0);
}
void update_speed() {
}
}
}
+ if (boost && speed != AltosRecord.MISSING && speed > prev_max_speed)
+ max_speed = speed;
}
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;
+ 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;
+ }
- acceleration = (ground_accel - accel) / counts_per_mss;
+ /* Only look at accelerometer data under boost */
+ if (boost && acceleration != AltosRecord.MISSING && acceleration > prev_max_acceleration)
+ max_acceleration = acceleration;
update_speed();
}
+ void update_time() {
+ if (tick != AltosRecord.MISSING) {
+ time = tick / 100.0;
+ if (prev_time != AltosRecord.MISSING)
+ time_change = time - prev_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 (state == AltosLib.ao_flight_pad) {
+ set_npad(npad+1);
+ if (pad_lat != AltosRecord.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;
+ }
+ }
+ if (pad_lat == AltosRecord.MISSING) {
+ pad_lat = gps.lat;
+ pad_lon = gps.lon;
+ pad_alt = gps.alt;
+ }
+ }
+ if (gps.lat != 0 && gps.lon != 0 &&
+ pad_lat != AltosRecord.MISSING &&
+ pad_lon != AltosRecord.MISSING)
+ {
+ double h = height;
+
+ if (h == AltosRecord.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;
+ }
+ }
+
public void set_tick(int tick) {
if (tick != AltosRecord.MISSING) {
if (this.tick != AltosRecord.MISSING) {
}
}
+ public void set_boost_tick(int boost_tick) {
+ if (boost_tick != AltosRecord.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;
}
+ 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 != AltosRecord.MISSING) {
+ if (this.flight != AltosRecord.MISSING &&
+ this.flight != flight) {
+ init();
+ }
+ this.flight = flight;
+ }
+ }
+
+ public void set_serial(int serial) {
+ /* When the serial changes, reset the state */
+ if (serial != AltosRecord.MISSING) {
+ if (this.serial != AltosRecord.MISSING &&
+ this.serial != serial) {
+ init();
+ }
+ this.serial = serial;
+ }
+ }
+
+ public int rssi() {
+ if (rssi == AltosRecord.MISSING)
+ return 0;
+ return rssi;
+ }
+
+ public void set_rssi(int rssi, int status) {
+ if (rssi != AltosRecord.MISSING) {
+ this.rssi = rssi;
+ this.status = status;
+ }
+ }
+
+ public void set_received_time(long ms) {
+ received_time = ms;
+ }
+
public void set_altitude(double altitude) {
if (altitude != AltosRecord.MISSING) {
this.altitude = altitude;
update_vertical_pos();
+ set |= set_position;
}
}
}
}
+ public void set_ground_pressure (double pressure) {
+ if (pressure != AltosRecord.MISSING) {
+ this.ground_pressure = pressure;
+ set_ground_altitude(AltosConvert.pressure_to_altitude(pressure));
+ update_vertical_pos();
+ }
+ }
+
public void set_gps(AltosGPS gps, int sequence) {
if (gps != null) {
this.gps = gps.clone();
gps_sequence = sequence;
+ update_gps();
update_vertical_pos();
+ set |= set_gps;
}
}
kalman_height = height;
kalman_speed = speed;
kalman_acceleration = acceleration;
- baro_speed = accel_speed = speed;
update_vertical_pos();
+ update_speed();
+ update_accel();
}
}
}
}
+ public void make_baro() {
+ if (baro == null)
+ baro = new AltosMs5607();
+ }
+
+ 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 AltosRecordCompanion(nchannels);
+ }
+
+ public void set_companion(AltosRecordCompanion companion) {
+ this.companion = companion;
+ }
+
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;
public void set_accel(double accel) {
if (accel != AltosRecord.MISSING) {
this.accel = accel;
+ if (state == AltosLib.ao_flight_pad) {
+ if (ground_accel_avg == AltosRecord.MISSING)
+ ground_accel_avg = accel;
+ else
+ ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
+ }
}
update_accel();
}
public void set_temperature(double temperature) {
- if (temperature != AltosRecord.MISSING)
+ if (temperature != AltosRecord.MISSING) {
this.temperature = temperature;
+ set |= set_data;
+ }
}
public void set_battery_voltage(double battery_voltage) {
- if (battery_voltage != AltosRecord.MISSING)
+ if (battery_voltage != AltosRecord.MISSING) {
this.battery_voltage = battery_voltage;
+ set |= set_data;
+ }
}
public void set_pyro_voltage(double pyro_voltage) {
- if (pyro_voltage != AltosRecord.MISSING)
+ if (pyro_voltage != AltosRecord.MISSING) {
this.pyro_voltage = pyro_voltage;
+ set |= set_data;
+ }
}
public void set_apogee_voltage(double apogee_voltage) {
- if (apogee_voltage != AltosRecord.MISSING)
+ if (apogee_voltage != AltosRecord.MISSING) {
this.apogee_voltage = apogee_voltage;
+ set |= set_data;
+ }
}
public void set_main_voltage(double main_voltage) {
- if (main_voltage != AltosRecord.MISSING)
+ if (main_voltage != AltosRecord.MISSING) {
this.main_voltage = main_voltage;
+ set |= set_data;
+ }
}
- 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.serial != cur.serial)
- prev_state = null;
-
- copy(prev_state);
-
- 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();
+ public void set_ignitor_voltage(double[] voltage) {
+ this.ignitor_voltage = voltage;
+ }
- set_temperature(data.temperature());
- set_apogee_voltage(data.drogue_voltage());
- set_main_voltage(data.main_voltage());
- set_battery_voltage(data.battery_voltage());
+ public double time_since_boost() {
+ if (tick == AltosRecord.MISSING)
+ return 0.0;
- set_pressure(data.pressure());
+ if (boost_tick != AltosRecord.MISSING) {
+ return (tick - boost_tick) / 100.0;
+ }
+ return tick / 100.0;
+ }
- set_tick(data.tick);
- set_state(data.state);
+ public boolean valid() {
+ return tick != AltosRecord.MISSING && serial != AltosRecord.MISSING;
+ }
- set_accel_g (data.accel_minus_g, data.accel_plus_g);
- set_ground_accel(data.ground_accel);
- set_accel (data.accel);
+ public AltosGPS make_temp_gps() {
+ if (temp_gps == null) {
+ temp_gps = new AltosGPS(gps);
+ temp_gps.cc_gps_sat = null;
+ }
+ gps_pending = true;
+ return temp_gps;
+ }
- set_gps(data.gps, data.gps_sequence);
+ public void set_temp_gps() {
+ set_gps(temp_gps, gps_sequence + 1);
+ gps_pending = false;
+ temp_gps = null;
+ }
- if (prev_state != null) {
+ public AltosState clone() {
+ AltosState s = new AltosState();
+ s.copy(this);
+ return s;
+ }
- if (data.kalman_speed != AltosRecord.MISSING) {
- baro_speed = accel_speed = data.kalman_speed;
- } else {
- /* compute barometric speed */
- double height_change = height - prev_state.height;
+ public void init (AltosRecord cur, AltosState prev_state) {
- double prev_baro_speed = prev_state.baro_speed;
- if (prev_baro_speed == AltosRecord.MISSING)
- prev_baro_speed = 0;
+ System.out.printf ("init\n");
+ if (cur == null)
+ cur = new AltosRecord();
- if (time_change > 0)
- baro_speed = (prev_baro_speed * 3 + (height_change / time_change)) / 4.0;
- else
- baro_speed = prev_state.baro_speed;
+ record = cur;
- double prev_accel_speed = prev_state.accel_speed;
+ /* Discard previous state if it was for a different board */
+ if (prev_state != null && prev_state.serial != cur.serial)
+ prev_state = null;
- if (prev_accel_speed == AltosRecord.MISSING)
- prev_accel_speed = 0;
+ copy(prev_state);
- if (acceleration == AltosRecord.MISSING) {
- /* Fill in mising acceleration value */
- accel_speed = baro_speed;
+ set_ground_altitude(cur.ground_altitude());
+ set_altitude(cur.altitude());
- if (time_change > 0 && accel_speed != AltosRecord.MISSING)
- acceleration = (accel_speed - prev_accel_speed) / time_change;
- else
- acceleration = prev_state.acceleration;
- } else {
- /* compute accelerometer speed */
- accel_speed = prev_accel_speed + acceleration * time_change;
- }
- }
- } else {
- npad = 0;
- ngps = 0;
- gps = null;
- gps_sequence = 0;
- baro_speed = AltosRecord.MISSING;
- accel_speed = AltosRecord.MISSING;
- pad_alt = AltosRecord.MISSING;
- max_baro_speed = 0;
- max_accel_speed = 0;
- 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;
- }
+ set_kalman(cur.kalman_height, cur.kalman_speed, cur.kalman_acceleration);
- time = tick / 100.0;
+ received_time = System.currentTimeMillis();
- if (data.gps != null && data.gps_sequence != gps_sequence && (state < AltosLib.ao_flight_boost)) {
+ set_temperature(cur.temperature());
+ set_apogee_voltage(cur.drogue_voltage());
+ set_main_voltage(cur.main_voltage());
+ set_battery_voltage(cur.battery_voltage());
- /* Track consecutive 'good' gps reports, waiting for 10 of them */
- if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
- set_npad(npad+1);
- else
- set_npad(0);
-
- /* Average GPS data while on the pad */
- if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
- if (ngps > 1 && state == AltosLib.ao_flight_pad) {
- /* 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;
- }
- ngps++;
- }
- } else {
- if (ngps == 0 && ground_altitude != AltosRecord.MISSING)
- pad_alt = ground_altitude;
- }
+ set_pressure(cur.pressure());
- gps_sequence = data.gps_sequence;
+ set_tick(cur.tick);
+ set_state(cur.state);
- /* Only look at accelerometer data under boost */
- if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
- max_acceleration = acceleration;
- if (boost && accel_speed != AltosRecord.MISSING && accel_speed > max_accel_speed)
- max_accel_speed = accel_speed;
- if (boost && baro_speed != AltosRecord.MISSING && baro_speed > max_baro_speed)
- max_baro_speed = baro_speed;
+ set_accel_g (cur.accel_minus_g, cur.accel_plus_g);
+ set_ground_accel(cur.ground_accel);
+ set_accel (cur.accel);
- if (height != AltosRecord.MISSING && height > max_height)
- max_height = height;
- elevation = 0;
- range = -1;
- gps_height = 0;
- if (data.gps != null) {
- gps = data.gps;
- if (ngps > 0 && gps.locked) {
- double h = height;
-
- if (h == AltosRecord.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;
- }
- }
- }
+ if (cur.gps_sequence != gps_sequence)
+ set_gps(cur.gps, cur.gps_sequence);
- public AltosState clone() {
- AltosState s = new AltosState(data, this);
- return s;
}
public AltosState(AltosRecord cur) {
public AltosState (AltosRecord cur, AltosState prev) {
init(cur, prev);
}
+
+
+ public AltosState () {
+ init();
+ }
}
projects / fw / altos / blobdiff