altosui: Don't display missing sensor data

[fw/altos] / altoslib / AltosState.java

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index f28dd1c6609f24070b7ba0fa4ce4e5f8f60205ed..f18bf368c22e3314962cfa3c329cef2c190c12d1 100644 (file)
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -19,7 +19,7 @@
  * Track flight state from telemetry or eeprom data stream
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosState {
        public AltosRecord data;
@@ -92,23 +92,34 @@ public class AltosState {
        public void init (AltosRecord cur, AltosState prev_state) {
                data = cur;
 
+               /* Discard previous state if it was for a different board */
+               if (prev_state != null && prev_state.data.serial != data.serial)
+                       prev_state = null;
                ground_altitude = data.ground_altitude();
 
                altitude = data.altitude();
 
+               height = AltosRecord.MISSING;
                if (data.kalman_height != AltosRecord.MISSING)
                        height = data.kalman_height;
                else {
-                       if (prev_state != null)
-                               height = (prev_state.height * 15 + altitude - ground_altitude) / 16.0;
+                       if (prev_state != null && altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING) {
+                               double  cur_height = altitude - ground_altitude;
+                               if (prev_state.height == AltosRecord.MISSING)
+                                       height = cur_height;
+                               else
+                                       height = (prev_state.height * 15 + cur_height) / 16.0;
+                       }
                }
 
                report_time = System.currentTimeMillis();
 
                if (data.kalman_acceleration != AltosRecord.MISSING)
                        acceleration = data.kalman_acceleration;
-               else
+               else {
                        acceleration = data.acceleration();
+                       System.out.printf ("data acceleration %g\n", acceleration);
+               }
                temperature = data.temperature();
                drogue_sense = data.drogue_voltage();
                main_sense = data.main_voltage();
@@ -166,16 +177,18 @@ public class AltosState {
                        npad = 0;
                        ngps = 0;
                        gps = null;
-                       baro_speed = 0;
-                       accel_speed = 0;
+                       baro_speed = AltosRecord.MISSING;
+                       accel_speed = AltosRecord.MISSING;
+                       max_baro_speed = AltosRecord.MISSING;
+                       max_accel_speed = AltosRecord.MISSING;
+                       max_height = AltosRecord.MISSING;
+                       max_acceleration = AltosRecord.MISSING;
                        time_change = 0;
-                       if (acceleration == AltosRecord.MISSING)
-                               acceleration = 0;
                }
 
                time = tick / 100.0;
 
-               if (cur.new_gps && (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_idle)) {
+               if (cur.new_gps && (state < AltosLib.ao_flight_boost)) {
 
                        /* Track consecutive 'good' gps reports, waiting for 10 of them */
                        if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
@@ -185,7 +198,7 @@ public class AltosState {
 
                        /* Average GPS data while on the pad */
                        if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
-                               if (ngps > 1) {
+                               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;
@@ -197,8 +210,10 @@ public class AltosState {
                                }
                                ngps++;
                        }
-               } else
-                       pad_alt = ground_altitude;
+               } else {
+                       if (ngps == 0 && ground_altitude != AltosRecord.MISSING)
+                               pad_alt = ground_altitude;
+               }
 
                data.new_gps = false;
 
@@ -213,14 +228,14 @@ public class AltosState {
                boost = (AltosLib.ao_flight_boost == state);
 
                /* Only look at accelerometer data under boost */
-               if (boost && acceleration > max_acceleration && acceleration != AltosRecord.MISSING)
+               if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
                        max_acceleration = acceleration;
-               if (boost && accel_speed > max_accel_speed && accel_speed != AltosRecord.MISSING)
+               if (boost && accel_speed != AltosRecord.MISSING && (max_accel_speed == AltosRecord.MISSING || accel_speed > max_accel_speed))
                        max_accel_speed = accel_speed;
-               if (boost && baro_speed > max_baro_speed && baro_speed != AltosRecord.MISSING)
+               if (boost && baro_speed != AltosRecord.MISSING && (max_baro_speed == AltosRecord.MISSING || baro_speed > max_baro_speed))
                        max_baro_speed = baro_speed;
 
-               if (height > max_height && height != AltosRecord.MISSING)
+               if (height != AltosRecord.MISSING || (max_height == AltosRecord.MISSING || height > max_height))
                        max_height = height;
                if (data.gps != null) {
                        if (gps == null || !gps.locked || data.gps.locked)