X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosState.java;h=08dafbb4c8ad6d12333e458638e6732abc04aede;hp=a01cddb774d1a5a567d10869a80ee669fe783938;hb=afbae4c6b7a658f690cb827acfef015e9e2da318;hpb=488a527267decece48e6682e0e0c7fc29cbed329

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index a01cddb7..08dafbb4 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -19,7 +19,7 @@
  * Track flight state from telemetry or eeprom data stream
  */
 
-package org.altusmetrum.altoslib_2;
+package org.altusmetrum.altoslib_3;
 
 public class AltosState implements Cloneable {
 
@@ -464,6 +464,20 @@ public class AltosState implements Cloneable {
 		return acceleration.max();
 	}
 
+	public AltosValue	orient;
+
+	public void set_orient(double new_orient) {
+		orient.set(new_orient, time);
+	}
+
+	public double orient() {
+		return orient.value();
+	}
+
+	public double max_orient() {
+		return orient.max();
+	}
+
 	public AltosValue	kalman_height, kalman_speed, kalman_acceleration;
 
 	public void set_kalman(double height, double speed, double acceleration) {
@@ -560,6 +574,7 @@ public class AltosState implements Cloneable {
 		pressure = new AltosPressure();
 		speed = new AltosSpeed();
 		acceleration = new AltosAccel();
+		orient = new AltosValue();
 
 		temperature = AltosLib.MISSING;
 		battery_voltage = AltosLib.MISSING;
@@ -621,6 +636,7 @@ public class AltosState implements Cloneable {
 		pressure.finish_update();
 		speed.finish_update();
 		acceleration.finish_update();
+		orient.finish_update();
 
 		kalman_height.finish_update();
 		kalman_speed.finish_update();
@@ -665,6 +681,7 @@ public class AltosState implements Cloneable {
 		pressure.copy(old.pressure);
 		speed.copy(old.speed);
 		acceleration.copy(old.acceleration);
+		orient.copy(old.orient);
 
 		battery_voltage = old.battery_voltage;
 		pyro_voltage = old.pyro_voltage;
@@ -836,7 +853,9 @@ public class AltosState implements Cloneable {
 		if (flight != AltosLib.MISSING && flight != 0) {
 			if (this.flight != AltosLib.MISSING &&
 			    this.flight != flight) {
+				int bt = boost_tick;
 				init();
+				boost_tick = bt;
 			}
 			this.flight = flight;
 		}
@@ -847,7 +866,9 @@ public class AltosState implements Cloneable {
 		if (serial != AltosLib.MISSING) {
 			if (this.serial != AltosLib.MISSING &&
 			    this.serial != serial) {
+				int bt = boost_tick;
 				init();
+				boost_tick = bt;
 			}
 			this.serial = serial;
 		}
@@ -928,14 +949,8 @@ public class AltosState implements Cloneable {
 	}
 
 	void update_accel() {
-		double	ground = ground_accel;
-
-		if (ground == AltosLib.MISSING)
-			ground = ground_accel_avg;
 		if (accel == AltosLib.MISSING)
 			return;
-		if (ground == AltosLib.MISSING)
-			return;
 		if (accel_plus_g == AltosLib.MISSING)
 			return;
 		if (accel_minus_g == AltosLib.MISSING)
@@ -943,7 +958,7 @@ public class AltosState implements Cloneable {
 
 		double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
 		double counts_per_mss = counts_per_g / 9.80665;
-		acceleration.set_measured((ground - accel) / counts_per_mss, time);
+		acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
 	}
 
 	public void set_accel_g(double accel_plus_g, double accel_minus_g) {
@@ -955,10 +970,8 @@ public class AltosState implements Cloneable {
 	}
 
 	public void set_ground_accel(double ground_accel) {
-		if (ground_accel != AltosLib.MISSING) {
+		if (ground_accel != AltosLib.MISSING)
 			this.ground_accel = ground_accel;
-			update_accel();
-		}
 	}
 
 	public void set_accel(double accel) {
@@ -1017,10 +1030,9 @@ public class AltosState implements Cloneable {
 		if (tick == AltosLib.MISSING)
 			return 0.0;
 
-		if (boost_tick != AltosLib.MISSING) {
-			return (tick - boost_tick) / 100.0;
-		}
-		return tick / 100.0;
+		if (boost_tick == AltosLib.MISSING)
+			return tick / 100.0;
+		return (tick - boost_tick) / 100.0;
 	}
 
 	public boolean valid() {