--- /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 data stream
+ */
+
+package altosui;
+
+import altosui.AltosTelemetry;
+import altosui.AltosGPS;
+
+public class AltosState {
+ AltosTelemetry data;
+ AltosTelemetry prev_data;
+
+ /* derived data */
+
+ double report_time;
+
+ int state;
+ 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;
+ AltosGPSTracking gps_tracking;
+
+ boolean gps_valid;
+ double pad_lat;
+ double pad_lon;
+ double pad_alt;
+ double pad_lat_total;
+ double pad_lon_total;
+ double pad_alt_total;
+ int npad;
+ int prev_npad;
+
+ AltosGreatCircle from_pad;
+
+ double gps_height;
+
+ int speak_tick;
+ double speak_altitude;
+
+ static double
+ aoview_time()
+ {
+ return System.currentTimeMillis() / 1000.0;
+ }
+
+ public AltosState (AltosTelemetry cur, AltosTelemetry prev, int prev_npad) {
+ int i;
+ double new_height;
+ double height_change;
+ double time_change;
+ double accel_counts_per_mss;
+ int tick_count;
+
+ data = cur;
+ prev_data = prev;
+ npad = prev_npad;
+ tick_count = data.tick;
+ if (tick_count < prev_data.tick)
+ tick_count += 65536;
+ time_change = (tick_count - prev_data.tick) / 100.0;
+
+ report_time = aoview_time();
+
+ ground_altitude = AltosConvert.cc_pressure_to_altitude(data.ground_pres);
+ new_height = AltosConvert.cc_pressure_to_altitude(data.flight_pres) - ground_altitude;
+ height_change = new_height - height;
+ height = new_height;
+ if (time_change > 0)
+ baro_speed = (baro_speed * 3 + (height_change / time_change)) / 4.0;
+ accel_counts_per_mss = ((data.accel_minus_g - data.accel_plus_g) / 2.0) / 9.80665;
+ acceleration = (data.ground_accel - data.flight_accel) / accel_counts_per_mss;
+ speed = data.flight_vel / (accel_counts_per_mss * 100.0);
+ temperature = AltosConvert.cc_thermometer_to_temperature(data.temp);
+ drogue_sense = AltosConvert.cc_ignitor_to_voltage(data.drogue);
+ main_sense = AltosConvert.cc_ignitor_to_voltage(data.main);
+ battery = AltosConvert.cc_battery_to_voltage(data.batt);
+ state = data.state();
+ if (state == AltosTelemetry.ao_flight_pad) {
+ if (data.gps.gps_locked && data.gps.nsat >= 4) {
+ npad++;
+ pad_lat_total += data.gps.lat;
+ pad_lon_total += data.gps.lon;
+ pad_alt_total += data.gps.alt;
+ if (npad > 1) {
+ pad_lat = (pad_lat * 31 + data.gps.lat) / 32.0;
+ pad_lon = (pad_lon * 31 + data.gps.lon) / 32.0;
+ pad_alt = (pad_alt * 31 + data.gps.alt) / 32.0;
+ } else {
+ pad_lat = data.gps.lat;
+ pad_lon = data.gps.lon;
+ pad_alt = data.gps.alt;
+ }
+ }
+ }
+ ascent = (AltosTelemetry.ao_flight_boost <= state &&
+ state <= AltosTelemetry.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;
+ gps.gps_locked = data.gps.gps_locked;
+ gps.gps_connected = data.gps.gps_connected;
+ if (data.gps.gps_locked) {
+ gps = data.gps;
+ gps_valid = true;
+ if (npad > 0)
+ from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
+ }
+ if (npad > 0) {
+ gps_height = gps.alt - pad_alt;
+ } else {
+ gps_height = 0;
+ }
+ }
+
+ public AltosState(AltosTelemetry cur) {
+ this(cur, cur, 0);
+ }
+
+ public AltosState (AltosTelemetry cur, AltosState prev) {
+ this(cur, prev.data, prev.npad);
+ if (gps == null) {
+ gps = prev.gps;
+ gps_valid = prev.gps_valid;
+ }
+ if (gps_tracking == null)
+ gps_tracking = prev.gps_tracking;
+ }
+}
projects / fw / altos / blobdiff