*/
class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOrderedRecord> {
- int index;
+ public int index;
public AltosOrderedRecord(String line, int in_index, int prev_tick)
throws ParseException {
index = in_index;
}
+ public AltosOrderedRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
+ super(in_cmd, in_tick, in_a, in_b);
+ index = in_index;
+ }
+
public int compareTo(AltosOrderedRecord o) {
int tick_diff = tick - o.tick;
if (tick_diff != 0)
int boost_tick;
+ boolean saw_gps_date;
+
+ boolean missing_gps_time;
+
public AltosRecord read() throws IOException, ParseException {
for (;;) {
if (record == null) {
if (last_reported)
return null;
last_reported = true;
- return state;
+ return new AltosRecord(state);
}
record = record_iterator.next();
state.tick = record.tick;
switch (record.cmd) {
case Altos.AO_LOG_FLIGHT:
- state.ground_accel = record.a;
- state.flight = record.b;
- seen |= seen_flight;
+ /* recorded when first read from the file */
break;
case Altos.AO_LOG_SENSOR:
state.accel = record.a;
ground_pres += state.pres;
state.ground_pres = (int) (ground_pres / n_pad_samples);
state.flight_pres = state.ground_pres;
- System.out.printf("ground pressure %d altitude %f\n",
- record.b, state.altitude());
ground_accel += state.accel;
state.ground_accel = (int) (ground_accel / n_pad_samples);
state.flight_accel = state.ground_accel;
seen |= seen_deploy;
break;
case Altos.AO_LOG_STATE:
- System.out.printf("state %d\n", record.a);
state.state = record.a;
break;
case Altos.AO_LOG_GPS_TIME:
gps_tick = state.tick;
+ AltosGPS old = state.gps;
state.gps = new AltosGPS();
+
+ /* GPS date doesn't get repeated through the file */
+ if (old != null) {
+ state.gps.year = old.year;
+ state.gps.month = old.month;
+ state.gps.day = old.day;
+ }
state.gps.hour = (record.a & 0xff);
state.gps.minute = (record.a >> 8);
state.gps.second = (record.b & 0xff);
}
break;
case Altos.AO_LOG_GPS_DATE:
- state.gps.year = record.a & 0xff;
+ state.gps.year = (record.a & 0xff) + 2000;
state.gps.month = record.a >> 8;
state.gps.day = record.b & 0xff;
break;
}
}
+ /*
+ * Given an AO_LOG_GPS_TIME record with correct time, and one
+ * missing time, rewrite the missing time values with the good
+ * ones, assuming that the difference between them is 'diff' seconds
+ */
+ void update_time(AltosOrderedRecord good, AltosOrderedRecord bad) {
+
+ int diff = (bad.tick - good.tick + 50) / 100;
+
+ int hour = (good.a & 0xff);
+ int minute = (good.a >> 8);
+ int second = (good.b & 0xff);
+ int flags = (good.b >> 8);
+ int seconds = hour * 3600 + minute * 60 + second;
+
+ int new_seconds = seconds + diff;
+ if (new_seconds < 0)
+ new_seconds += 24 * 3600;
+ int new_second = (new_seconds % 60);
+ int new_minutes = (new_seconds / 60);
+ int new_minute = (new_minutes % 60);
+ int new_hours = (new_minutes / 60);
+ int new_hour = (new_hours % 24);
+
+ bad.a = new_hour + (new_minute << 8);
+ bad.b = new_second + (flags << 8);
+ }
+
/*
* Read the whole file, dumping records into a RB tree so
* we can enumerate them in time order -- the eeprom data
seen = 0;
records = new TreeSet<AltosOrderedRecord>();
+ AltosOrderedRecord last_gps_time = null;
+
int index = 0;
int tick = 0;
+ boolean missing_time = false;
+
try {
for (;;) {
String line = AltosRecord.gets(input);
AltosOrderedRecord record = new AltosOrderedRecord(line, index++, tick);
if (record == null)
break;
+ if (record.cmd == Altos.AO_LOG_INVALID)
+ continue;
tick = record.tick;
if (!saw_boost && record.cmd == Altos.AO_LOG_STATE &&
- record.a == Altos.ao_flight_boost)
+ record.a >= Altos.ao_flight_boost)
{
saw_boost = true;
- boost_tick = state.tick;
+ boost_tick = tick;
+ }
+ if (record.cmd == Altos.AO_LOG_FLIGHT) {
+ state.ground_accel = record.a;
+ state.flight = record.b;
+ seen |= seen_flight;
+ }
+
+ /* Two firmware bugs caused the loss of some GPS data.
+ * The flight date would never be recorded, and often
+ * the flight time would get overwritten by another
+ * record. Detect the loss of the GPS date and fix up the
+ * missing time records
+ */
+ if (record.cmd == Altos.AO_LOG_GPS_DATE)
+ saw_gps_date = true;
+
+ /* go back and fix up any missing time values */
+ if (record.cmd == Altos.AO_LOG_GPS_TIME) {
+ last_gps_time = record;
+ if (missing_time) {
+ Iterator<AltosOrderedRecord> iterator = records.iterator();
+ while (iterator.hasNext()) {
+ AltosOrderedRecord old = iterator.next();
+ if (old.cmd == Altos.AO_LOG_GPS_TIME &&
+ old.a == -1 && old.b == -1)
+ {
+ update_time(record, old);
+ }
+ }
+ missing_time = false;
+ }
+ }
+
+ if (record.cmd == Altos.AO_LOG_GPS_LAT) {
+ if (last_gps_time == null || last_gps_time.tick != record.tick) {
+ AltosOrderedRecord add_gps_time = new AltosOrderedRecord(Altos.AO_LOG_GPS_TIME,
+ record.tick,
+ -1, -1, index-1);
+ if (last_gps_time != null)
+ update_time(last_gps_time, add_gps_time);
+ else
+ missing_time = true;
+
+ records.add(add_gps_time);
+ record.index = index++;
+ }
}
records.add(record);
}
projects / fw / altos / blobdiff