Fix state updates

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

diff --git a/ao-tools/altosui/AltosState.java b/ao-tools/altosui/AltosState.java
index b3054ce99e389c69a20245d1bb91b5787d565ed0..aacddfdf5ee3f80e66f13e6be85d8f1b11fe071a 100644 (file)
--- a/ao-tools/altosui/AltosState.java
+++ b/ao-tools/altosui/AltosState.java
@@ -26,17 +26,17 @@ import altosui.AltosGPS;
 
 public class AltosState {
        AltosTelemetry data;
-       AltosTelemetry prev_data;
 
        /* derived data */
 
        double  report_time;
 
+       double  time_change;
+       int     tick;
+
        int     state;
        boolean ascent; /* going up? */
 
-       double  time_change;
-
        double  ground_altitude;
        double  height;
        double  speed;
@@ -56,9 +56,6 @@ public class AltosState {
        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;
 
@@ -75,29 +72,18 @@ public class AltosState {
                return System.currentTimeMillis() / 1000.0;
        }
 
-       void init (AltosTelemetry cur, AltosTelemetry prev, int prev_npad) {
-               int     i;
-               double  new_height;
-               double  height_change;
+       void init (AltosTelemetry cur, AltosState prev_state) {
+               int             i;
+               AltosTelemetry prev;
                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;
+
+               ground_altitude = AltosConvert.cc_barometer_to_altitude(data.ground_pres);
+               height = AltosConvert.cc_barometer_to_altitude(data.flight_pres) - ground_altitude;
 
                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);
@@ -105,17 +91,46 @@ public class AltosState {
                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);
+               tick = data.tick;
                state = data.state();
+
+               if (prev_state != null) {
+
+                       /* Preserve any existing gps data */
+                       npad = prev_state.npad;
+                       gps = prev_state.gps;
+                       pad_lat = prev_state.pad_lat;
+                       pad_lon = prev_state.pad_lon;
+                       pad_alt = prev_state.pad_alt;
+
+                       /* 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;
+                       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) {
                                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;
+                                       /* 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;
@@ -135,7 +150,8 @@ public class AltosState {
                if (height > max_height)
                        max_height = height;
                if (data.gps != null) {
-                       gps = data.gps;
+                       if (gps == null || !gps.gps_locked || data.gps.gps_locked)
+                               gps = data.gps;
                        if (npad > 0 && gps.gps_locked)
                                from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
                }
@@ -147,16 +163,10 @@ public class AltosState {
        }
 
        public AltosState(AltosTelemetry cur) {
-               init(cur, cur, 0);
+               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;
-               }
+               init(cur, prev);
        }
 }