--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+/*
+ * Track flight state from telemetry or eeprom data stream
+ */
+
+package org.altusmetrum.AltosLib;
+
+public class AltosState {
+ public AltosRecord data;
+
+ /* derived data */
+
+ public long report_time;
+
+ public double time;
+ public double time_change;
+ public int tick;
+
+ public int state;
+ public boolean landed;
+ public boolean ascent; /* going up? */
+ public boolean boost; /* under power */
+
+ public double ground_altitude;
+ public double height;
+ public double speed;
+ public double acceleration;
+ public double battery;
+ public double temperature;
+ public double main_sense;
+ public double drogue_sense;
+ public double baro_speed;
+
+ public double max_height;
+ public double max_acceleration;
+ public double max_speed;
+ public double max_baro_speed;
+
+ public AltosGPS gps;
+
+ public AltosIMU imu;
+ public AltosMag mag;
+
+ public static final int MIN_PAD_SAMPLES = 10;
+
+ public int npad;
+ public int ngps;
+ public int gps_waiting;
+ public boolean gps_ready;
+
+ public AltosGreatCircle from_pad;
+ public double elevation; /* from pad */
+ public double range; /* total distance */
+
+ public double gps_height;
+
+ public int speak_tick;
+ public double speak_altitude;
+
+ public void init (AltosRecord cur, AltosState prev_state) {
+ int i;
+ AltosRecord prev;
+
+ data = cur;
+
+ ground_altitude = data.ground_altitude();
+ height = data.filtered_height();
+
+ report_time = System.currentTimeMillis();
+
+ acceleration = data.acceleration();
+ speed = data.accel_speed();
+ temperature = data.temperature();
+ drogue_sense = data.drogue_voltage();
+ main_sense = data.main_voltage();
+ battery = data.battery_voltage();
+ tick = data.tick;
+ state = data.state;
+
+ if (prev_state != null) {
+
+ /* Preserve any existing gps data */
+ npad = prev_state.npad;
+ ngps = prev_state.ngps;
+ gps = prev_state.gps;
+ pad_lat = prev_state.pad_lat;
+ pad_lon = prev_state.pad_lon;
+ pad_alt = prev_state.pad_alt;
+ max_height = prev_state.max_height;
+ max_acceleration = prev_state.max_acceleration;
+ max_speed = prev_state.max_speed;
+ max_baro_speed = prev_state.max_baro_speed;
+ imu = prev_state.imu;
+ mag = prev_state.mag;
+
+ /* make sure the clock is monotonic */
+ while (tick < prev_state.tick)
+ tick += 65536;
+
+ time_change = (tick - prev_state.tick) / 100.0;
+
+ /* compute barometric speed */
+
+ double height_change = height - prev_state.height;
+ if (data.speed != AltosRecord.MISSING)
+ baro_speed = data.speed;
+ else {
+ if (time_change > 0)
+ baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
+ else
+ baro_speed = prev_state.baro_speed;
+ }
+ } else {
+ npad = 0;
+ ngps = 0;
+ gps = null;
+ baro_speed = 0;
+ time_change = 0;
+ }
+
+ time = tick / 100.0;
+
+ if (cur.new_gps && (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_idle)) {
+
+ /* Track consecutive 'good' gps reports, waiting for 10 of them */
+ if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
+ npad++;
+ else
+ npad = 0;
+
+ /* Average GPS data while on the pad */
+ if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
+ if (ngps > 1) {
+ /* 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++;
+ }
+ }
+
+ gps_waiting = MIN_PAD_SAMPLES - npad;
+ if (gps_waiting < 0)
+ gps_waiting = 0;
+
+ gps_ready = gps_waiting == 0;
+
+ ascent = (AltosLib.ao_flight_boost <= state &&
+ state <= AltosLib.ao_flight_coast);
+ boost = (AltosLib.ao_flight_boost == state);
+
+ /* Only look at accelerometer data under boost */
+ if (boost && acceleration > max_acceleration)
+ max_acceleration = acceleration;
+ if (boost && speed > max_speed)
+ max_speed = speed;
+ if (boost && baro_speed > max_baro_speed)
+ max_baro_speed = baro_speed;
+
+ if (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);
+ }
+ } else {
+ gps_height = 0;
+ }
+ }
+
+ public AltosState(AltosRecord cur) {
+ init(cur, null);
+ }
+
+ public AltosState (AltosRecord cur, AltosState prev) {
+ init(cur, prev);
+ }
+}
projects / fw / altos / blobdiff