*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* Track flight state from telemetry or eeprom data stream
*/
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_11;
import java.io.*;
-public class AltosState implements Cloneable, Serializable {
+public class AltosState implements Cloneable {
public static final int set_position = 1;
public static final int set_gps = 2;
public int set;
+ static final double filter_len = 2.0;
static final double ascent_filter_len = 0.5;
- static final double descent_filter_len = 0.5;
+ static final double descent_filter_len = 5.0;
/* derived data */
private int prev_tick;
public int boost_tick;
- class AltosValue implements Serializable{
+ class AltosValue {
double value;
double prev_value;
private double max_value;
}
void set_filtered(double new_value, double time) {
- if (prev_value != AltosLib.MISSING)
- new_value = (prev_value * 15.0 + new_value) / 16.0;
+ if (prev_value != AltosLib.MISSING) {
+ double f = 1/Math.exp((time - prev_set_time) / filter_len);
+ new_value = f * new_value + (1-f) * prev_value;
+ }
set(new_value, time);
}
prev_value = AltosLib.MISSING;
max_value = AltosLib.MISSING;
}
+
}
- class AltosCValue implements Serializable {
+ class AltosCValue {
- class AltosIValue extends AltosValue implements Serializable {
+ class AltosIValue extends AltosValue {
boolean can_max() {
return c_can_max();
}
+
+ AltosIValue() {
+ super();
+ }
};
public AltosIValue measured;
computed.finish_update();
}
- AltosCValue() {
+ public AltosCValue() {
measured = new AltosIValue();
computed = new AltosIValue();
}
}
- public int state;
+ private int state;
public int flight;
public int serial;
public int altitude_32;
ground_altitude.set_measured(a, time);
}
- class AltosGpsGroundAltitude extends AltosValue implements Serializable {
+ class AltosGpsGroundAltitude extends AltosValue {
void set(double a, double t) {
super.set(a, t);
pad_alt = value();
pad_alt = value();
gps_altitude.set_gps_height();
}
+
+ AltosGpsGroundAltitude() {
+ super();
+ }
}
private AltosGpsGroundAltitude gps_ground_altitude;
gps_ground_altitude.set(a, time);
}
- class AltosGroundPressure extends AltosCValue implements Serializable {
+ class AltosGroundPressure extends AltosCValue {
void set_filtered(double p, double time) {
computed.set_filtered(p, time);
if (!is_measured())
super.set_measured(p, time);
ground_altitude.set_computed(pressure_to_altitude(p), time);
}
+
+ AltosGroundPressure () {
+ super();
+ }
}
private AltosGroundPressure ground_pressure;
ground_pressure.set_measured(pressure, time);
}
- class AltosAltitude extends AltosCValue implements Serializable {
+ class AltosAltitude extends AltosCValue {
private void set_speed(AltosValue v) {
if (!acceleration.is_measured() || !ascent)
set_speed(measured);
set |= set_position;
}
+
+ AltosAltitude() {
+ super();
+ }
}
private AltosAltitude altitude;
- class AltosGpsAltitude extends AltosValue implements Serializable {
+ class AltosGpsAltitude extends AltosValue {
private void set_gps_height() {
double a = value();
super.set(a, t);
set_gps_height();
}
+
+ AltosGpsAltitude() {
+ super();
+ }
}
private AltosGpsAltitude gps_altitude;
return gps_speed.max();
}
- class AltosPressure extends AltosValue implements Serializable {
+ class AltosPressure extends AltosValue {
void set(double p, double time) {
super.set(p, time);
if (state == AltosLib.ao_flight_pad)
double a = pressure_to_altitude(p);
altitude.set_computed(a, time);
}
+
+ AltosPressure() {
+ super();
+ }
}
private AltosPressure pressure;
return AltosLib.MISSING;
}
- class AltosSpeed extends AltosCValue implements Serializable {
+ class AltosSpeed extends AltosCValue {
boolean can_max() {
return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
super.set_measured(new_value, time);
set_accel();
}
+
+ AltosSpeed() {
+ super();
+ }
}
private AltosSpeed speed;
return AltosLib.MISSING;
}
- class AltosAccel extends AltosCValue implements Serializable {
+ class AltosAccel extends AltosCValue {
boolean can_max() {
return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
if (ascent)
speed.set_integral(this.measured);
}
+
+ AltosAccel() {
+ super();
+ }
}
AltosAccel acceleration;
public double ground_accel_avg;
public int log_format;
+ public int log_space;
public String product;
public AltosMs5607 baro;
ground_accel_avg = AltosLib.MISSING;
log_format = AltosLib.MISSING;
+ log_space = AltosLib.MISSING;
product = null;
serial = AltosLib.MISSING;
receiver_serial = AltosLib.MISSING;
ground_accel_avg = old.ground_accel_avg;
log_format = old.log_format;
+ log_space = old.log_space;
product = old.product;
serial = old.serial;
receiver_serial = old.receiver_serial;
return AltosLib.state_name(state);
}
+ public void set_product(String product) {
+ this.product = product;
+ }
+
public void set_state(int state) {
if (state != AltosLib.ao_flight_invalid) {
this.state = state;
}
}
+ public int state() {
+ return state;
+ }
+
public void set_device_type(int device_type) {
this.device_type = device_type;
switch (device_type) {
}
}
+ public void set_log_space(int log_space) {
+ this.log_space = log_space;
+ }
+
public void set_flight_params(int apogee_delay, int main_deploy) {
this.apogee_delay = apogee_delay;
this.main_deploy = main_deploy;
}
}
- public void make_companion (int nchannels) {
- if (companion == null)
- companion = new AltosCompanion(nchannels);
- }
-
public void set_companion(AltosCompanion companion) {
this.companion = companion;
}
public AltosState clone() {
AltosState s = new AltosState();
s.copy(this);
+
+ /* Code to test state save/restore. Enable only for that purpose
+ */
+ if (false) {
+ AltosJson json = new AltosJson(this);
+ String onetrip = json.toPrettyString();
+ AltosJson back = AltosJson.fromString(onetrip);
+ AltosState tripstate = (AltosState) back.make(this.getClass());
+ AltosJson tripjson = new AltosJson(tripstate);
+ String twotrip = tripjson.toPrettyString();
+
+ if (!onetrip.equals(twotrip)) {
+ try {
+ FileWriter one_file = new FileWriter("one.json", true);
+ one_file.write(onetrip);
+ one_file.flush();
+ FileWriter two_file = new FileWriter("two.json", true);
+ two_file.write(twotrip);
+ two_file.flush();
+ } catch (Exception e) {
+ }
+ System.out.printf("json error\n");
+ System.exit(1);
+ }
+ }
return s;
}
projects / fw / altos / blobdiff