altoslib: Update GPS state even if new state is unlocked

[fw/altos] / altoslib / AltosState.java

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index 8a3bbd4cee31d039d00caedd15c0a0499eb80780..ccbe498d5ca34dedaa3ee7be58512955f93e16d2 100644 (file)
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -155,30 +155,41 @@ public class AltosState {
                                /* compute barometric speed */
 
                                double height_change = height - prev_state.height;
+
+                               double prev_baro_speed = prev_state.baro_speed;
+                               if (prev_baro_speed == AltosRecord.MISSING)
+                                       prev_baro_speed = 0;
+
                                if (time_change > 0)
-                                       baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
+                                       baro_speed = (prev_baro_speed * 3 + (height_change / time_change)) / 4.0;
                                else
                                        baro_speed = prev_state.baro_speed;
 
+                               double prev_accel_speed = prev_state.accel_speed;
+
+                               if (prev_accel_speed == AltosRecord.MISSING)
+                                       prev_accel_speed = 0;
+
                                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;
+
+                                       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_state.accel_speed + acceleration * time_change;
+                                       accel_speed = prev_accel_speed + acceleration * time_change;
                                }
                        }
-
                } else {
                        npad = 0;
                        ngps = 0;
                        gps = null;
                        baro_speed = AltosRecord.MISSING;
                        accel_speed = AltosRecord.MISSING;
+                       pad_alt = AltosRecord.MISSING;
                        max_baro_speed = 0;
                        max_accel_speed = 0;
                        max_height = 0;
@@ -237,23 +248,20 @@ public class AltosState {
 
                if (height != AltosRecord.MISSING && height > max_height)
                        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);
-                       }
-               }
                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);
+               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;
                        }
-               } else {
-                       gps_height = 0;
                }
        }