X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosFlightSeries.java;h=ef4ef4dfc6dcebb8432a5192b793e06b0b650006;hp=ab7943b399c1a340c3257b35dbdda9721c5e56e7;hb=76b288f8d02e0a48f04de9455a2dd0b77e48bd63;hpb=d75e8b9046295051c91696461e8d5f59c8260ccc diff --git a/altoslib/AltosFlightSeries.java b/altoslib/AltosFlightSeries.java index ab7943b3..ef4ef4df 100644 --- a/altoslib/AltosFlightSeries.java +++ b/altoslib/AltosFlightSeries.java @@ -12,7 +12,7 @@ * General Public License for more details. */ -package org.altusmetrum.altoslib_12; +package org.altusmetrum.altoslib_14; import java.util.*; @@ -21,7 +21,7 @@ public class AltosFlightSeries extends AltosDataListener { public ArrayList series = new ArrayList(); public double speed_filter_width = 4.0; - public double accel_filter_width = 4.0; + public double accel_filter_width = 1.0; public int[] indices() { int[] indices = new int[series.size()]; @@ -160,6 +160,7 @@ public class AltosFlightSeries extends AltosDataListener { } public AltosTimeSeries accel_series; + public boolean accel_computed; public static final String accel_name = "Accel"; @@ -174,17 +175,44 @@ public class AltosFlightSeries extends AltosDataListener { accel_series = add_series(accel_name, AltosConvert.accel); accel_series.add(time(), acceleration); + accel_computed = false; } - private void compute_accel() { - if (accel_series != null) - return; + private AltosTimeSeries compute_accel() { + AltosTimeSeries new_accel_series = null; if (speed_series != null) { - AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed); - speed_series.filter(temp_series, accel_filter_width); - accel_series = add_series(accel_name, AltosConvert.accel); - temp_series.differentiate(accel_series); + AltosTimeSeries temp_series; + if (accel_filter_width > 0) { + temp_series = make_series(speed_name, AltosConvert.speed); + speed_series.filter(temp_series, accel_filter_width); + } else + temp_series = speed_series; + + new_accel_series = make_series(accel_name, AltosConvert.accel); + temp_series.differentiate(new_accel_series); + } + return new_accel_series; + } + + public void set_filter(double speed_filter, double accel_filter) { + this.speed_filter_width = speed_filter; + this.accel_filter_width = accel_filter; + + AltosTimeSeries new_speed_series = compute_speed(); + + if (new_speed_series != null) { + speed_series.erase_values(); + for (AltosTimeValue tv : new_speed_series) + speed_series.add(tv); + } + if (accel_computed) { + AltosTimeSeries new_accel_series = compute_accel(); + if (new_accel_series != null) { + accel_series.erase_values(); + for (AltosTimeValue tv : new_accel_series) + accel_series.add(tv); + } } } @@ -229,6 +257,15 @@ public class AltosFlightSeries extends AltosDataListener { public AltosTimeSeries height_series; + public double max_height = AltosLib.MISSING; + + public void set_min_pressure(double pa) { + double ground_altitude = cal_data().ground_altitude; + if (ground_altitude != AltosLib.MISSING) + max_height = AltosConvert.pressure_to_altitude(pa) - + ground_altitude; + } + public static final String height_name = "Height"; public void set_pressure(double pa) { @@ -268,21 +305,24 @@ public class AltosFlightSeries extends AltosDataListener { public static final String speed_name = "Speed"; - private void compute_speed() { - if (speed_series != null) - return; - + private AltosTimeSeries compute_speed() { + AltosTimeSeries new_speed_series = null; AltosTimeSeries alt_speed_series = null; AltosTimeSeries accel_speed_series = null; if (altitude_series != null) { - AltosTimeSeries temp_series = make_series(altitude_name, AltosConvert.height); - altitude_series.filter(temp_series, speed_filter_width); + AltosTimeSeries temp_series; + + if (speed_filter_width > 0) { + temp_series = make_series(speed_name, AltosConvert.height); + altitude_series.filter(temp_series, speed_filter_width); + } else + temp_series = altitude_series; alt_speed_series = make_series(speed_name, AltosConvert.speed); temp_series.differentiate(alt_speed_series); } - if (accel_series != null) { + if (accel_series != null && !accel_computed) { if (orient_series != null) { vert_accel_series = add_series(vert_accel_name, AltosConvert.accel); @@ -318,31 +358,32 @@ public class AltosFlightSeries extends AltosDataListener { } } if (apogee_time == AltosLib.MISSING) { - speed_series = alt_speed_series; + new_speed_series = alt_speed_series; } else { - speed_series = make_series(speed_name, AltosConvert.speed); + new_speed_series = make_series(speed_name, AltosConvert.speed); for (AltosTimeValue d : accel_speed_series) { if (d.time <= apogee_time) - speed_series.add(d); + new_speed_series.add(d); } for (AltosTimeValue d : alt_speed_series) { if (d.time > apogee_time) - speed_series.add(d); + new_speed_series.add(d); } } } else if (alt_speed_series != null) { - speed_series = alt_speed_series; + new_speed_series = alt_speed_series; } else if (accel_speed_series != null) { - speed_series = accel_speed_series; + new_speed_series = accel_speed_series; } - if (speed_series != null) - add_series(speed_series); + return new_speed_series; } public AltosTimeSeries orient_series; + public AltosTimeSeries azimuth_series; public static final String orient_name = "Tilt Angle"; + public static final String azimuth_name = "Azimuth Angle"; private void compute_orient() { @@ -352,21 +393,26 @@ public class AltosFlightSeries extends AltosDataListener { if (accel_ground_across == AltosLib.MISSING) return; - if (cal_data().pad_orientation == AltosLib.MISSING) + AltosCalData cal_data = cal_data(); + + if (cal_data.pad_orientation == AltosLib.MISSING) return; - if (cal_data().accel_zero_across == AltosLib.MISSING) + if (cal_data.accel_zero_across == AltosLib.MISSING) return; - AltosRotation rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data().accel_zero_across), - AltosIMU.convert_accel(accel_ground_through - cal_data().accel_zero_through), - AltosIMU.convert_accel(accel_ground_along - cal_data().accel_zero_along), - cal_data().pad_orientation); + AltosRotation rotation = new AltosRotation(accel_ground_across, + accel_ground_through, + accel_ground_along, + cal_data.pad_orientation); double prev_time = ground_time; orient_series = add_series(orient_name, AltosConvert.orient); orient_series.add(ground_time, rotation.tilt()); + azimuth_series = add_series(azimuth_name, AltosConvert.orient); + azimuth_series.add(ground_time, rotation.azimuth()); + for (AltosTimeValue roll_v : gyro_roll) { double time = roll_v.time; double dt = time - prev_time; @@ -378,6 +424,7 @@ public class AltosFlightSeries extends AltosDataListener { rotation.rotate(pitch, yaw, roll); orient_series.add(time, rotation.tilt()); + azimuth_series.add(time, rotation.azimuth()); } prev_time = time; } @@ -459,13 +506,24 @@ public class AltosFlightSeries extends AltosDataListener { public ArrayList gps_series; public AltosGPS gps_before(double time) { - AltosGPS gps = null; - for (AltosGPSTimeValue gtv : gps_series) - if (gtv.time <= time) - gps = gtv.gps; - else - break; - return gps; + AltosGPSTimeValue nearest = null; + for (AltosGPSTimeValue gtv : gps_series) { + if (nearest == null) + nearest = gtv; + else { + if (gtv.time <= time) { + if (nearest.time <= time && gtv.time > nearest.time) + nearest = gtv; + } else { + if (nearest.time > time && gtv.time < nearest.time) + nearest = gtv; + } + } + } + if (nearest != null) + return nearest.gps; + else + return null; } public AltosTimeSeries sats_in_view; @@ -490,62 +548,68 @@ public class AltosFlightSeries extends AltosDataListener { public static final String gps_vdop_name = "GPS Vertical Dilution of Precision"; public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision"; - public void set_gps(AltosGPS gps) { + public void set_gps(AltosGPS gps, boolean new_location, boolean new_sats) { + super.set_gps(gps, new_location, new_sats); + AltosCalData cal_data = cal_data(); if (gps_series == null) gps_series = new ArrayList(); gps_series.add(new AltosGPSTimeValue(time(), gps)); - if (sats_in_soln == null) { - sats_in_soln = add_series(sats_in_soln_name, null); - } - sats_in_soln.add(time(), gps.nsat); - if (gps.pdop != AltosLib.MISSING) { - if (gps_pdop == null) - gps_pdop = add_series(gps_pdop_name, null); - gps_pdop.add(time(), gps.pdop); - } - if (gps.hdop != AltosLib.MISSING) { - if (gps_hdop == null) - gps_hdop = add_series(gps_hdop_name, null); - gps_hdop.add(time(), gps.hdop); - } - if (gps.vdop != AltosLib.MISSING) { - if (gps_vdop == null) - gps_vdop = add_series(gps_vdop_name, null); - gps_vdop.add(time(), gps.vdop); - } - if (gps.locked) { - if (gps.alt != AltosLib.MISSING) { - if (gps_altitude == null) - gps_altitude = add_series(gps_altitude_name, AltosConvert.height); - gps_altitude.add(time(), gps.alt); + if (new_location) { + if (sats_in_soln == null) { + sats_in_soln = add_series(sats_in_soln_name, null); } - if (gps.ground_speed != AltosLib.MISSING) { - if (gps_ground_speed == null) - gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed); - gps_ground_speed.add(time(), gps.ground_speed); + sats_in_soln.add(time(), gps.nsat); + if (gps.pdop != AltosLib.MISSING) { + if (gps_pdop == null) + gps_pdop = add_series(gps_pdop_name, null); + gps_pdop.add(time(), gps.pdop); } - if (gps.climb_rate != AltosLib.MISSING) { - if (gps_ascent_rate == null) - gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed); - gps_ascent_rate.add(time(), gps.climb_rate); + if (gps.hdop != AltosLib.MISSING) { + if (gps_hdop == null) + gps_hdop = add_series(gps_hdop_name, null); + gps_hdop.add(time(), gps.hdop); } - if (gps.course != AltosLib.MISSING) { - if (gps_course == null) - gps_course = add_series(gps_course_name, null); - gps_course.add(time(), gps.course); + if (gps.vdop != AltosLib.MISSING) { + if (gps_vdop == null) + gps_vdop = add_series(gps_vdop_name, null); + gps_vdop.add(time(), gps.vdop); } - if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING) { - if (gps_speed == null) - gps_speed = add_series(gps_speed_name, null); - gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed + - gps.climb_rate * gps.climb_rate)); + if (gps.locked) { + if (gps.alt != AltosLib.MISSING) { + if (gps_altitude == null) + gps_altitude = add_series(gps_altitude_name, AltosConvert.height); + gps_altitude.add(time(), gps.alt); + } + if (gps.ground_speed != AltosLib.MISSING) { + if (gps_ground_speed == null) + gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed); + gps_ground_speed.add(time(), gps.ground_speed); + } + if (gps.climb_rate != AltosLib.MISSING) { + if (gps_ascent_rate == null) + gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed); + gps_ascent_rate.add(time(), gps.climb_rate); + } + if (gps.course != AltosLib.MISSING) { + if (gps_course == null) + gps_course = add_series(gps_course_name, null); + gps_course.add(time(), gps.course); + } + if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING) { + if (gps_speed == null) + gps_speed = add_series(gps_speed_name, null); + gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed + + gps.climb_rate * gps.climb_rate)); + } } } - if (gps.cc_gps_sat != null) { - if (sats_in_view == null) - sats_in_view = add_series(sats_in_view_name, null); - sats_in_view.add(time(), gps.cc_gps_sat.length); + if (new_sats) { + if (gps.cc_gps_sat != null) { + if (sats_in_view == null) + sats_in_view = add_series(sats_in_view_name, null); + sats_in_view.add(time(), gps.cc_gps_sat.length); + } } } @@ -564,8 +628,10 @@ public class AltosFlightSeries extends AltosDataListener { public static final String mag_along_name = "Magnetic Field Along"; public static final String mag_across_name = "Magnetic Field Across"; public static final String mag_through_name = "Magnetic Field Through"; + public static final String mag_total_name = "Magnetic Field Strength"; + public static final String compass_name = "Compass"; - public AltosTimeSeries mag_along, mag_across, mag_through; + public AltosTimeSeries mag_along, mag_across, mag_through, mag_total, compass; public void set_accel(double along, double across, double through) { if (accel_along == null) { @@ -607,10 +673,14 @@ public class AltosFlightSeries extends AltosDataListener { mag_along = add_series(mag_along_name, AltosConvert.magnetic_field); mag_across = add_series(mag_across_name, AltosConvert.magnetic_field); mag_through = add_series(mag_through_name, AltosConvert.magnetic_field); + mag_total = add_series(mag_total_name, AltosConvert.magnetic_field); + compass = add_series(compass_name, AltosConvert.orient); } mag_along.add(time(), along); mag_across.add(time(), across); mag_through.add(time(), through); + mag_total.add(time(), Math.sqrt(along * along + across * across + through *through)); + compass.add(time(), Math.atan2(across, through) * 180 / Math.PI); } public void set_orient(double orient) { @@ -690,8 +760,18 @@ public class AltosFlightSeries extends AltosDataListener { public void finish() { compute_orient(); - compute_speed(); - compute_accel(); + if (speed_series == null) { + speed_series = compute_speed(); + if (speed_series != null) + add_series(speed_series); + } + if (accel_series == null) { + accel_series = compute_accel(); + if (accel_series != null) { + add_series(accel_series); + accel_computed = true; + } + } compute_height(); }