*
*/
-public class AltosTelemetryRecordLegacy extends AltosRecord implements AltosTelemetryRecord {
+public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord {
/*
* General header fields
*
final static String AO_TELEM_SAT_SVID = "s_v";
final static String AO_TELEM_SAT_C_N_0 = "s_c";
+ AltosRecord record;
+
private void parse_v4(String[] words, int i) throws ParseException {
AltosTelemetryMap map = new AltosTelemetryMap(words, i);
- callsign = map.get_string(AO_TELEM_CALL, "N0CALL");
- serial = map.get_int(AO_TELEM_SERIAL, MISSING);
- flight = map.get_int(AO_TELEM_FLIGHT, MISSING);
- rssi = map.get_int(AO_TELEM_RSSI, MISSING);
- state = Altos.state(map.get_string(AO_TELEM_STATE, "invalid"));
- tick = map.get_int(AO_TELEM_TICK, 0);
+ record.callsign = map.get_string(AO_TELEM_CALL, "N0CALL");
+ record.serial = map.get_int(AO_TELEM_SERIAL, AltosRecord.MISSING);
+ record.flight = map.get_int(AO_TELEM_FLIGHT, AltosRecord.MISSING);
+ record.rssi = map.get_int(AO_TELEM_RSSI, AltosRecord.MISSING);
+ record.state = Altos.state(map.get_string(AO_TELEM_STATE, "invalid"));
+ record.tick = map.get_int(AO_TELEM_TICK, 0);
/* raw sensor values */
- accel = map.get_int(AO_TELEM_RAW_ACCEL, MISSING);
- pres = map.get_int(AO_TELEM_RAW_BARO, MISSING);
- temp = map.get_int(AO_TELEM_RAW_THERMO, MISSING);
- batt = map.get_int(AO_TELEM_RAW_BATT, MISSING);
- drogue = map.get_int(AO_TELEM_RAW_DROGUE, MISSING);
- main = map.get_int(AO_TELEM_RAW_MAIN, MISSING);
+ record.accel = map.get_int(AO_TELEM_RAW_ACCEL, AltosRecord.MISSING);
+ record.pres = map.get_int(AO_TELEM_RAW_BARO, AltosRecord.MISSING);
+ record.temp = map.get_int(AO_TELEM_RAW_THERMO, AltosRecord.MISSING);
+ record.batt = map.get_int(AO_TELEM_RAW_BATT, AltosRecord.MISSING);
+ record.drogue = map.get_int(AO_TELEM_RAW_DROGUE, AltosRecord.MISSING);
+ record.main = map.get_int(AO_TELEM_RAW_MAIN, AltosRecord.MISSING);
/* sensor calibration information */
- ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, MISSING);
- ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, MISSING);
- accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, MISSING);
- accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, MISSING);
+ record.ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, AltosRecord.MISSING);
+ record.ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, AltosRecord.MISSING);
+ record.accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, AltosRecord.MISSING);
+ record.accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, AltosRecord.MISSING);
/* flight computer values */
- acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, MISSING, 1/16.0);
- speed = map.get_double(AO_TELEM_KALMAN_SPEED, MISSING, 1/16.0);
- height = map.get_int(AO_TELEM_KALMAN_HEIGHT, MISSING);
+ record.acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, AltosRecord.MISSING, 1/16.0);
+ record.speed = map.get_double(AO_TELEM_KALMAN_SPEED, AltosRecord.MISSING, 1/16.0);
+ record.height = map.get_int(AO_TELEM_KALMAN_HEIGHT, AltosRecord.MISSING);
- flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, MISSING);
- flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, MISSING);
- flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, MISSING);
+ record.flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, AltosRecord.MISSING);
+ record.flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, AltosRecord.MISSING);
+ record.flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, AltosRecord.MISSING);
if (map.has(AO_TELEM_GPS_STATE)) {
- gps = new AltosGPS(map);
- new_gps = true;
+ record.gps = new AltosGPS(map);
+ record.new_gps = true;
}
else
- gps = null;
+ record.gps = null;
}
private void parse_legacy(String[] words, int i) throws ParseException {
AltosParse.word (words[i++], "CALL");
- callsign = words[i++];
+ record.callsign = words[i++];
AltosParse.word (words[i++], "SERIAL");
- serial = AltosParse.parse_int(words[i++]);
+ record.serial = AltosParse.parse_int(words[i++]);
- if (version >= 2) {
+ if (record.version >= 2) {
AltosParse.word (words[i++], "FLIGHT");
- flight = AltosParse.parse_int(words[i++]);
+ record.flight = AltosParse.parse_int(words[i++]);
} else
- flight = 0;
+ record.flight = 0;
AltosParse.word(words[i++], "RSSI");
- rssi = AltosParse.parse_int(words[i++]);
+ record.rssi = AltosParse.parse_int(words[i++]);
/* Older telemetry data had mis-computed RSSI value */
- if (version <= 2)
- rssi = (rssi + 74) / 2 - 74;
+ if (record.version <= 2)
+ record.rssi = (record.rssi + 74) / 2 - 74;
AltosParse.word(words[i++], "STATUS");
- status = AltosParse.parse_hex(words[i++]);
+ record.status = AltosParse.parse_hex(words[i++]);
AltosParse.word(words[i++], "STATE");
- state = Altos.state(words[i++]);
+ record.state = Altos.state(words[i++]);
- tick = AltosParse.parse_int(words[i++]);
+ record.tick = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "a:");
- accel = AltosParse.parse_int(words[i++]);
+ record.accel = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "p:");
- pres = AltosParse.parse_int(words[i++]);
+ record.pres = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "t:");
- temp = AltosParse.parse_int(words[i++]);
+ record.temp = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "v:");
- batt = AltosParse.parse_int(words[i++]);
+ record.batt = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "d:");
- drogue = AltosParse.parse_int(words[i++]);
+ record.drogue = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "m:");
- main = AltosParse.parse_int(words[i++]);
+ record.main = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "fa:");
- flight_accel = AltosParse.parse_int(words[i++]);
+ record.flight_accel = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "ga:");
- ground_accel = AltosParse.parse_int(words[i++]);
+ record.ground_accel = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "fv:");
- flight_vel = AltosParse.parse_int(words[i++]);
+ record.flight_vel = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "fp:");
- flight_pres = AltosParse.parse_int(words[i++]);
+ record.flight_pres = AltosParse.parse_int(words[i++]);
/* Old TeleDongle code with kalman-reporting TeleMetrum code */
- if ((flight_vel & 0xffff0000) == 0x80000000) {
- speed = ((short) flight_vel) / 16.0;
- acceleration = flight_accel / 16.0;
- height = flight_pres;
- flight_vel = MISSING;
- flight_pres = MISSING;
- flight_accel = MISSING;
+ if ((record.flight_vel & 0xffff0000) == 0x80000000) {
+ record.speed = ((short) record.flight_vel) / 16.0;
+ record.acceleration = record.flight_accel / 16.0;
+ record.height = record.flight_pres;
+ record.flight_vel = AltosRecord.MISSING;
+ record.flight_pres = AltosRecord.MISSING;
+ record.flight_accel = AltosRecord.MISSING;
}
AltosParse.word(words[i++], "gp:");
- ground_pres = AltosParse.parse_int(words[i++]);
+ record.ground_pres = AltosParse.parse_int(words[i++]);
- if (version >= 1) {
+ if (record.version >= 1) {
AltosParse.word(words[i++], "a+:");
- accel_plus_g = AltosParse.parse_int(words[i++]);
+ record.accel_plus_g = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "a-:");
- accel_minus_g = AltosParse.parse_int(words[i++]);
+ record.accel_minus_g = AltosParse.parse_int(words[i++]);
} else {
- accel_plus_g = ground_accel;
- accel_minus_g = ground_accel + 530;
+ record.accel_plus_g = record.ground_accel;
+ record.accel_minus_g = record.ground_accel + 530;
}
- gps = new AltosGPS(words, i, version);
- new_gps = true;
+ record.gps = new AltosGPS(words, i, record.version);
+ record.new_gps = true;
}
public AltosTelemetryRecordLegacy(String line) throws ParseException, AltosCRCException {
String[] words = line.split("\\s+");
int i = 0;
+ record = new AltosRecord();
+
if (words[i].equals("CRC") && words[i+1].equals("INVALID")) {
i += 2;
AltosParse.word(words[i++], "RSSI");
- rssi = AltosParse.parse_int(words[i++]);
- throw new AltosCRCException(rssi);
+ record.rssi = AltosParse.parse_int(words[i++]);
+ throw new AltosCRCException(record.rssi);
}
if (words[i].equals("CALL")) {
- version = 0;
+ record.version = 0;
} else {
AltosParse.word (words[i++], "VERSION");
- version = AltosParse.parse_int(words[i++]);
+ record.version = AltosParse.parse_int(words[i++]);
}
- if (version < 4)
+ if (record.version < 4)
parse_legacy(words, i);
else
parse_v4(words, i);
static final int AO_GPS_COURSE_VALID = (1 << 7);
public AltosTelemetryRecordLegacy(int[] in_bytes, int in_rssi, int in_status) {
+ record = new AltosRecord();
+
bytes = in_bytes;
- version = 4;
+ record.version = 4;
adjust = 0;
if (bytes.length == Altos.ao_telemetry_0_8_len + 4) {
- serial = uint8(0);
+ record.serial = uint8(0);
adjust = -1;
} else
- serial = uint16(0);
-
- seen = seen_flight | seen_sensor | seen_temp_volt | seen_deploy;
-
- callsign = string(62, 8);
- flight = uint16(2);
- rssi = in_rssi;
- status = in_status;
- state = uint8(4);
- tick = uint16(21);
- accel = int16(23);
- pres = int16(25);
- temp = int16(27);
- batt = int16(29);
- drogue = int16(31);
- main = int16(33);
+ record.serial = uint16(0);
+
+ record.seen = AltosRecord.seen_flight | AltosRecord.seen_sensor | AltosRecord.seen_temp_volt | AltosRecord.seen_deploy;
+
+ record.callsign = string(62, 8);
+ record.flight = uint16(2);
+ record.rssi = in_rssi;
+ record.status = in_status;
+ record.state = uint8(4);
+ record.tick = uint16(21);
+ record.accel = int16(23);
+ record.pres = int16(25);
+ record.temp = int16(27);
+ record.batt = int16(29);
+ record.drogue = int16(31);
+ record.main = int16(33);
- ground_accel = int16(7);
- ground_pres = int16(15);
- accel_plus_g = int16(17);
- accel_minus_g = int16(19);
+ record.ground_accel = int16(7);
+ record.ground_pres = int16(15);
+ record.accel_plus_g = int16(17);
+ record.accel_minus_g = int16(19);
if (uint16(11) == 0x8000) {
- acceleration = int16(5);
- speed = int16(9);
- height = int16(13);
- flight_accel = MISSING;
- flight_vel = MISSING;
- flight_pres = MISSING;
+ record.acceleration = int16(5);
+ record.speed = int16(9);
+ record.height = int16(13);
+ record.flight_accel = AltosRecord.MISSING;
+ record.flight_vel = AltosRecord.MISSING;
+ record.flight_pres = AltosRecord.MISSING;
} else {
- flight_accel = int16(5);
- flight_vel = uint32(9);
- flight_pres = int16(13);
- acceleration = MISSING;
- speed = MISSING;
- height = MISSING;
+ record.flight_accel = int16(5);
+ record.flight_vel = uint32(9);
+ record.flight_pres = int16(13);
+ record.acceleration = AltosRecord.MISSING;
+ record.speed = AltosRecord.MISSING;
+ record.height = AltosRecord.MISSING;
}
- gps = null;
+ record.gps = null;
int gps_flags = uint8(41);
if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) {
- gps = new AltosGPS();
- new_gps = true;
-
- seen |= seen_gps_time | seen_gps_lat | seen_gps_lon;
- gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK);
- gps.locked = (gps_flags & AO_GPS_VALID) != 0;
- gps.connected = true;
- gps.lat = uint32(42) / 1.0e7;
- gps.lon = uint32(46) / 1.0e7;
- gps.alt = int16(50);
- gps.ground_speed = uint16(52) / 100.0;
- gps.course = uint8(54) * 2;
- gps.hdop = uint8(55) / 5.0;
- gps.h_error = uint16(58);
- gps.v_error = uint16(60);
+ record.gps = new AltosGPS();
+ record.new_gps = true;
+
+ record.seen |= record.seen_gps_time | record.seen_gps_lat | record.seen_gps_lon;
+ record.gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK);
+ record.gps.locked = (gps_flags & AO_GPS_VALID) != 0;
+ record.gps.connected = true;
+ record.gps.lat = uint32(42) / 1.0e7;
+ record.gps.lon = uint32(46) / 1.0e7;
+ record.gps.alt = int16(50);
+ record.gps.ground_speed = uint16(52) / 100.0;
+ record.gps.course = uint8(54) * 2;
+ record.gps.hdop = uint8(55) / 5.0;
+ record.gps.h_error = uint16(58);
+ record.gps.v_error = uint16(60);
int n_tracking_reported = uint8(70);
if (n_tracking_reported > 12)
n_tracking_actual++;
}
if (n_tracking_actual > 0) {
- gps.cc_gps_sat = new AltosGPSSat[n_tracking_actual];
+ record.gps.cc_gps_sat = new AltosGPSSat[n_tracking_actual];
n_tracking_actual = 0;
for (int i = 0; i < n_tracking_reported; i++) {
int svid = uint8(71 + i*2);
int c_n0 = uint8(72 + i*2);
if (svid != 0)
- gps.cc_gps_sat[n_tracking_actual++] = new AltosGPSSat(svid, c_n0);
+ record.gps.cc_gps_sat[n_tracking_actual++] = new AltosGPSSat(svid, c_n0);
}
}
}
- time = 0.0;
+ record.time = 0.0;
}
public AltosRecord update_state(AltosRecord previous) {
- return this;
+ return record;
}
}
projects / fw / altos / blobdiff