altosui: Add ascent, descent and landed tabs

[fw/altos] / ao-tools / altosui / AltosState.java

diff --git a/ao-tools/altosui/AltosState.java b/ao-tools/altosui/AltosState.java
index 192011d02955f6c637fa42aabe7f9c917f2cd54b..86eb636a19687561c093565eaae2410eed96c70a 100644 (file)
--- a/ao-tools/altosui/AltosState.java
+++ b/ao-tools/altosui/AltosState.java
@@ -16,25 +16,26 @@
  */
 
 /*
- * Track flight state from telemetry data stream
+ * Track flight state from telemetry or eeprom data stream
  */
 
 package altosui;
 
-import altosui.AltosTelemetry;
+import altosui.AltosRecord;
 import altosui.AltosGPS;
 
 public class AltosState {
-       AltosTelemetry data;
+       AltosRecord data;
 
        /* derived data */
 
-       double  report_time;
+       long    report_time;
 
        double  time_change;
        int     tick;
 
        int     state;
+       boolean landed;
        boolean ascent; /* going up? */
 
        double  ground_altitude;
@@ -56,48 +57,49 @@ public class AltosState {
        double  pad_lat;
        double  pad_lon;
        double  pad_alt;
+
+       static final int MIN_PAD_SAMPLES = 10;
+
        int     npad;
-       int     prev_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;
 
-       static double
-       aoview_time()
-       {
-               return System.currentTimeMillis() / 1000.0;
-       }
 
-       void init (AltosTelemetry cur, AltosState prev_state) {
+       void init (AltosRecord cur, AltosState prev_state) {
                int             i;
-               AltosTelemetry prev;
-               double  accel_counts_per_mss;
+               AltosRecord prev;
 
                data = cur;
 
-               ground_altitude = AltosConvert.cc_barometer_to_altitude(data.ground_pres);
-               height = AltosConvert.cc_barometer_to_altitude(data.flight_pres) - ground_altitude;
+               ground_altitude = data.ground_altitude();
+               height = data.filtered_altitude() - ground_altitude;
 
-               report_time = aoview_time();
+               report_time = System.currentTimeMillis();
 
-               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);
+               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();
+               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;
@@ -121,15 +123,23 @@ public class AltosState {
                                baro_speed = prev_state.baro_speed;
                } else {
                        npad = 0;
+                       ngps = 0;
                        gps = null;
                        baro_speed = 0;
                        time_change = 0;
                }
 
-               if (state == AltosTelemetry.ao_flight_pad) {
-                       if (data.gps != null && data.gps.gps_locked && data.gps.nsat >= 4) {
+               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++;
-                               if (npad > 1) {
+                       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;
@@ -139,10 +149,18 @@ public class AltosState {
                                        pad_lon = data.gps.lon;
                                        pad_alt = data.gps.alt;
                                }
+                               ngps++;
                        }
                }
-               ascent = (AltosTelemetry.ao_flight_boost <= state &&
-                         state <= AltosTelemetry.ao_flight_coast);
+
+               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)
@@ -153,23 +171,30 @@ public class AltosState {
                if (height > max_height)
                        max_height = height;
                if (data.gps != null) {
-                       if (gps == null || !gps.gps_locked || data.gps.gps_locked)
+                       if (gps == null || !gps.locked || data.gps.locked)
                                gps = data.gps;
-                       if (npad > 0 && gps.gps_locked)
+                       if (ngps > 0 && gps.locked) {
                                from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
+                       }
                }
-               if (npad > 0) {
+               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(AltosTelemetry cur) {
+       public AltosState(AltosRecord cur) {
                init(cur, null);
        }
 
-       public AltosState (AltosTelemetry cur, AltosState prev) {
+       public AltosState (AltosRecord cur, AltosState prev) {
                init(cur, prev);
        }
 }