*/
/*
- * 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;
- AltosTelemetry prev_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 time_change;
-
double ground_altitude;
double height;
double speed;
double pad_lat;
double pad_lon;
double pad_alt;
- double pad_lat_total;
- double pad_lon_total;
- double pad_alt_total;
+
+ 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, AltosTelemetry prev, int prev_npad) {
- int i;
- double new_height;
- double height_change;
- double accel_counts_per_mss;
- int tick_count;
+ void init (AltosRecord cur, AltosState prev_state) {
+ int i;
+ AltosRecord prev;
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 != null && data.gps.gps_locked && data.gps.nsat >= 4) {
+
+ 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++;
- 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
+ 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++;
}
}
- 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)
if (height > max_height)
max_height = height;
if (data.gps != null) {
- gps = data.gps;
- if (npad > 0 && gps.gps_locked)
+ 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);
+ }
}
- 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) {
- init(cur, cur, 0);
+ public AltosState(AltosRecord cur) {
+ init(cur, null);
}
- public AltosState (AltosTelemetry cur, AltosState prev) {
- if (prev == null)
- init(cur, cur, 0);
- else {
- init(cur, prev.data, prev.npad);
- if (gps == null)
- gps = prev.gps;
- }
+ public AltosState (AltosRecord cur, AltosState prev) {
+ init(cur, prev);
}
}
projects / fw / altos / blobdiff