* Track flight state from telemetry or eeprom data stream
*/
-package org.altusmetrum.altoslib_2;
+package org.altusmetrum.altoslib_4;
public class AltosState implements Cloneable {
public int set;
- static final double ascent_filter_len = 0.1;
- static final double descent_filter_len = 2.0;
+ static final double ascent_filter_len = 0.5;
+ static final double descent_filter_len = 0.5;
/* derived data */
private double max_value;
private double set_time;
private double prev_set_time;
- private double max_rate = 1000.0;
+
+ boolean can_max() { return true; }
void set(double new_value, double time) {
if (new_value != AltosLib.MISSING) {
value = new_value;
- if (max_value == AltosLib.MISSING || value > max_value) {
+ if (can_max() && (max_value == AltosLib.MISSING || value > max_value))
max_value = value;
- }
set_time = time;
}
}
void set_derivative(AltosValue in) {
double n = in.rate();
-
+
if (n == AltosLib.MISSING)
return;
/* Clip changes to reduce noise */
double ddt = in.time() - pt;
double ddv = (n - p) / ddt;
-
+
+ final double max = 100000;
+
/* 100gs */
- if (Math.abs(ddv) > 1000) {
+ if (Math.abs(ddv) > max) {
if (n > p)
- n = p + ddt * 1000;
+ n = p + ddt * max;
else
- n = p - ddt * 1000;
+ n = p - ddt * max;
}
double filter_len;
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);
ground_altitude.set_measured(a, time);
}
+ class AltosGpsGroundAltitude extends AltosValue {
+ void set(double a, double t) {
+ super.set(a, t);
+ pad_alt = value();
+ gps_altitude.set_gps_height();
+ }
+
+ void set_filtered(double a, double t) {
+ super.set_filtered(a, t);
+ pad_alt = value();
+ gps_altitude.set_gps_height();
+ }
+ }
+
+ private AltosGpsGroundAltitude gps_ground_altitude;
+
+ public double gps_ground_altitude() {
+ return gps_ground_altitude.value();
+ }
+
+ public void set_gps_ground_altitude(double a) {
+ gps_ground_altitude.set(a, time);
+ }
+
class AltosGroundPressure extends AltosCValue {
void set_filtered(double p, double time) {
computed.set_filtered(p, time);
}
private AltosGroundPressure ground_pressure;
-
+
public double ground_pressure() {
return ground_pressure.value();
}
private AltosAltitude altitude;
+ class AltosGpsAltitude extends AltosValue {
+
+ private void set_gps_height() {
+ double a = value();
+ double g = gps_ground_altitude.value();
+
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+ gps_height = a - g;
+ else
+ gps_height = AltosLib.MISSING;
+ }
+
+ void set(double a, double t) {
+ super.set(a, t);
+ set_gps_height();
+ }
+ }
+
+ private AltosGpsAltitude gps_altitude;
+
+ private AltosValue gps_ground_speed;
+ private AltosValue gps_ascent_rate;
+ private AltosValue gps_course;
+
public double altitude() {
double a = altitude.value();
if (a != AltosLib.MISSING)
return a;
- if (gps != null)
- return gps.alt;
- return AltosLib.MISSING;
+ return gps_altitude.value();
}
public double max_altitude() {
double a = altitude.max();
if (a != AltosLib.MISSING)
return a;
- return AltosLib.MISSING;
+ return gps_altitude.max();
}
public void set_altitude(double new_altitude) {
altitude.set_measured(new_altitude, time);
}
+ public double gps_altitude() {
+ return gps_altitude.value();
+ }
+
+ public double max_gps_altitude() {
+ return gps_altitude.max();
+ }
+
+ public void set_gps_altitude(double new_gps_altitude) {
+ gps_altitude.set(new_gps_altitude, time);
+ }
+
+ public double gps_ground_speed() {
+ return gps_ground_speed.value();
+ }
+
+ public double gps_ascent_rate() {
+ return gps_ascent_rate.value();
+ }
+
+ public double gps_course() {
+ return gps_course.value();
+ }
+
class AltosPressure extends AltosValue {
void set(double p, double time) {
super.set(p, time);
return AltosLib.MISSING;
}
+ public double gps_height() {
+ double a = gps_altitude();
+ double g = gps_ground_altitude();
+
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+ return a - g;
+ return AltosLib.MISSING;
+ }
+
+ public double max_gps_height() {
+ double a = gps_altitude.max();
+ double g = gps_ground_altitude();
+
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+ return a - g;
+ return AltosLib.MISSING;
+ }
+
class AltosSpeed extends AltosCValue {
-
+
+ boolean can_max() {
+ return state < AltosLib.ao_flight_fast;
+ }
+
void set_accel() {
acceleration.set_derivative(this);
}
}
class AltosAccel extends AltosCValue {
+
+ boolean can_max() {
+ return state < AltosLib.ao_flight_fast;
+ }
+
void set_measured(double a, double time) {
super.set_measured(a, time);
if (ascent)
return acceleration.max();
}
+ public AltosValue orient;
+
+ public void set_orient(double new_orient) {
+ orient.set(new_orient, time);
+ }
+
+ public double orient() {
+ return orient.value();
+ }
+
+ public double max_orient() {
+ return orient.max();
+ }
+
public AltosValue kalman_height, kalman_speed, kalman_acceleration;
public void set_kalman(double height, double speed, double acceleration) {
public double ground_accel_avg;
public int log_format;
+ public String product;
public AltosMs5607 baro;
public AltosCompanion companion;
+ public int pyro_fired;
+
public void set_npad(int npad) {
this.npad = npad;
gps_waiting = MIN_PAD_SAMPLES - npad;
pressure = new AltosPressure();
speed = new AltosSpeed();
acceleration = new AltosAccel();
+ orient = new AltosValue();
temperature = AltosLib.MISSING;
battery_voltage = AltosLib.MISSING;
pad_lon = AltosLib.MISSING;
pad_alt = AltosLib.MISSING;
+ gps_altitude = new AltosGpsAltitude();
+ gps_ground_altitude = new AltosGpsGroundAltitude();
+ gps_ground_speed = new AltosValue();
+ gps_ascent_rate = new AltosValue();
+ gps_course = new AltosValue();
+
speak_tick = AltosLib.MISSING;
speak_altitude = AltosLib.MISSING;
ground_accel_avg = AltosLib.MISSING;
log_format = AltosLib.MISSING;
+ product = null;
serial = AltosLib.MISSING;
receiver_serial = AltosLib.MISSING;
baro = null;
companion = null;
+
+ pyro_fired = 0;
}
void finish_update() {
pressure.finish_update();
speed.finish_update();
acceleration.finish_update();
+ orient.finish_update();
kalman_height.finish_update();
kalman_speed.finish_update();
time = old.time;
time_change = old.time_change;
prev_time = old.time;
-
+
tick = old.tick;
prev_tick = old.tick;
boost_tick = old.boost_tick;
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);
pressure.copy(old.pressure);
speed.copy(old.speed);
acceleration.copy(old.acceleration);
+ orient.copy(old.orient);
battery_voltage = old.battery_voltage;
pyro_voltage = old.pyro_voltage;
range = old.range;
gps_height = old.gps_height;
+
+ gps_altitude.copy(old.gps_altitude);
+ gps_ground_altitude.copy(old.gps_ground_altitude);
+ gps_ground_speed.copy(old.gps_ground_speed);
+ gps_ascent_rate.copy(old.gps_ascent_rate);
+ gps_course.copy(old.gps_course);
+
pad_lat = old.pad_lat;
pad_lon = old.pad_lon;
pad_alt = old.pad_alt;
ground_accel_avg = old.ground_accel_avg;
log_format = old.log_format;
+ product = old.product;
serial = old.serial;
receiver_serial = old.receiver_serial;
baro = old.baro;
companion = old.companion;
+
+ pyro_fired = old.pyro_fired;
}
-
+
void update_time() {
}
void update_gps() {
elevation = 0;
range = -1;
- gps_height = 0;
if (gps == null)
return;
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;
+ gps_ground_altitude.set_filtered(gps.alt, time);
}
}
if (pad_lat == AltosLib.MISSING) {
pad_lat = gps.lat;
pad_lon = gps.lon;
- pad_alt = gps.alt;
+ gps_ground_altitude.set(gps.alt, time);
}
+ gps_altitude.set(gps.alt, time);
+ if (gps.climb_rate != AltosLib.MISSING)
+ gps_ascent_rate.set(gps.climb_rate, time);
+ if (gps.ground_speed != AltosLib.MISSING)
+ gps_ground_speed.set(gps.ground_speed, time);
+ if (gps.course != AltosLib.MISSING)
+ gps_course.set(gps.course, time);
}
if (gps.lat != 0 && gps.lon != 0 &&
pad_lat != AltosLib.MISSING &&
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 (flight != AltosLib.MISSING && flight != 0) {
if (this.flight != AltosLib.MISSING &&
this.flight != flight) {
+ int bt = boost_tick;
init();
+ boost_tick = bt;
}
this.flight = flight;
}
if (serial != AltosLib.MISSING) {
if (this.serial != AltosLib.MISSING &&
this.serial != serial) {
+ int bt = boost_tick;
init();
+ boost_tick = bt;
}
this.serial = serial;
}
}
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)
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);
+ acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
}
public void set_accel_g(double accel_plus_g, double accel_minus_g) {
}
public void set_ground_accel(double ground_accel) {
- if (ground_accel != AltosLib.MISSING) {
+ if (ground_accel != AltosLib.MISSING)
this.ground_accel = ground_accel;
- update_accel();
- }
}
public void set_accel(double accel) {
this.ignitor_voltage = voltage;
}
+ public void set_pyro_fired(int fired) {
+ this.pyro_fired = fired;
+ }
+
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;
+ if (boost_tick == AltosLib.MISSING)
+ return tick / 100.0;
+ return (tick - boost_tick) / 100.0;
}
public boolean valid() {
projects / fw / altos / blobdiff