+++ /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 altosui;
-
-public class AltosState {
- AltosRecord data;
-
- /* derived data */
-
- long report_time;
-
- double time_change;
- int tick;
-
- int state;
- boolean landed;
- boolean ascent; /* going up? */
-
- double ground_altitude;
- double height;
- double speed;
- double acceleration;
- double battery;
- double temperature;
- double main_sense;
- double drogue_sense;
- double baro_speed;
-
- double max_height;
- double max_acceleration;
- double max_speed;
-
- AltosGPS gps;
-
- double pad_lat;
- double pad_lon;
- double pad_alt;
-
- static final int MIN_PAD_SAMPLES = 10;
-
- int npad;
- int ngps;
- int gps_waiting;
- boolean gps_ready;
-
- AltosGreatCircle from_pad;
- double elevation; /* from pad */
- double range; /* total distance */
-
- double gps_height;
-
- int speak_tick;
- double speak_altitude;
-
-
- void init (AltosRecord cur, AltosState prev_state) {
- int i;
- AltosRecord prev;
-
- data = cur;
-
- ground_altitude = data.ground_altitude();
- height = data.filtered_altitude() - ground_altitude;
-
- 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;
-
- /* 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 (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;
- }
-
- if (state == Altos.ao_flight_pad) {
-
- /* 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 = (Altos.ao_flight_boost <= state &&
- state <= Altos.ao_flight_coast);
-
- /* Only look at accelerometer data on the way up */
- if (ascent && acceleration > max_acceleration)
- max_acceleration = acceleration;
- if (ascent && speed > max_speed)
- max_speed = 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