X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosState.java;h=5fce15c43865e63b43447db93f59faf725f838f7;hp=1162e5221be70636fc7faa7d2d8373b4b0c3a21c;hb=6dafd7bf947d892e430cd565eb92a3366abb3604;hpb=3871b9ac036e3adfa1da089245fc7973b268c921

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index 1162e522..5fce15c4 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_4;
+package org.altusmetrum.altoslib_5;
 
 public class AltosState implements Cloneable {
 
@@ -271,6 +271,7 @@ public class AltosState implements Cloneable {
 	public int	state;
 	public int	flight;
 	public int	serial;
+	public int	altitude_32;
 	public int	receiver_serial;
 	public boolean	landed;
 	public boolean	ascent;	/* going up? */
@@ -392,6 +393,7 @@ public class AltosState implements Cloneable {
 	private AltosValue		gps_ground_speed;
 	private AltosValue		gps_ascent_rate;
 	private AltosValue		gps_course;
+	private AltosValue		gps_speed;
 
 	public double altitude() {
 		double a = altitude.value();
@@ -427,14 +429,30 @@ public class AltosState implements Cloneable {
 		return gps_ground_speed.value();
 	}
 
+	public double max_gps_ground_speed() {
+		return gps_ground_speed.max();
+	}
+
 	public double gps_ascent_rate() {
 		return gps_ascent_rate.value();
 	}
 
+	public double max_gps_ascent_rate() {
+		return gps_ascent_rate.max();
+	}
+
 	public double gps_course() {
 		return gps_course.value();
 	}
 
+	public double gps_speed() {
+		return gps_speed.value();
+	}
+
+	public double max_gps_speed() {
+		return gps_speed.max();
+	}
+
 	class AltosPressure extends AltosValue {
 		void set(double p, double time) {
 			super.set(p, time);
@@ -455,11 +473,7 @@ public class AltosState implements Cloneable {
 		pressure.set(p, time);
 	}
 
-	public double height() {
-		double k = kalman_height.value();
-		if (k != AltosLib.MISSING)
-			return k;
-
+	public double baro_height() {
 		double a = altitude();
 		double g = ground_altitude();
 		if (a != AltosLib.MISSING && g != AltosLib.MISSING)
@@ -467,6 +481,18 @@ public class AltosState implements Cloneable {
 		return AltosLib.MISSING;
 	}
 
+	public double height() {
+		double k = kalman_height.value();
+		if (k != AltosLib.MISSING)
+			return k;
+
+		double b = baro_height();
+		if (b != AltosLib.MISSING)
+			return b;
+
+		return gps_height();
+	}
+
 	public double max_height() {
 		double	k = kalman_height.max();
 		if (k != AltosLib.MISSING)
@@ -476,7 +502,7 @@ public class AltosState implements Cloneable {
 		double g = ground_altitude();
 		if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 			return a - g;
-		return AltosLib.MISSING;
+		return max_gps_height();
 	}
 
 	public double gps_height() {
@@ -500,7 +526,7 @@ public class AltosState implements Cloneable {
 	class AltosSpeed extends AltosCValue {
 
 		boolean can_max() {
-			return state < AltosLib.ao_flight_fast;
+			return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
 		}
 
 		void set_accel() {
@@ -529,20 +555,32 @@ public class AltosState implements Cloneable {
 		double v = kalman_speed.value();
 		if (v != AltosLib.MISSING)
 			return v;
-		return speed.value();
+		v = speed.value();
+		if (v != AltosLib.MISSING)
+			return v;
+		v = gps_speed();
+		if (v != AltosLib.MISSING)
+			return v;
+		return AltosLib.MISSING;
 	}
 
 	public double max_speed() {
 		double v = kalman_speed.max();
 		if (v != AltosLib.MISSING)
 			return v;
-		return speed.max();
+		v = speed.max();
+		if (v != AltosLib.MISSING)
+			return v;
+		v = max_gps_speed();
+		if (v != AltosLib.MISSING)
+			return v;
+		return AltosLib.MISSING;
 	}
 
 	class AltosAccel extends AltosCValue {
 
 		boolean can_max() {
-			return state < AltosLib.ao_flight_fast;
+			return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
 		}
 
 		void set_measured(double a, double time) {
@@ -712,12 +750,15 @@ public class AltosState implements Cloneable {
 		gps_altitude = new AltosGpsAltitude();
 		gps_ground_altitude = new AltosGpsGroundAltitude();
 		gps_ground_speed = new AltosValue();
+		gps_speed = new AltosValue();
 		gps_ascent_rate = new AltosValue();
+		gps_course = new AltosValue();
 
 		speak_tick = AltosLib.MISSING;
 		speak_altitude = AltosLib.MISSING;
 
 		callsign = null;
+		firmware_version = null;
 
 		accel_plus_g = AltosLib.MISSING;
 		accel_minus_g = AltosLib.MISSING;
@@ -730,6 +771,7 @@ public class AltosState implements Cloneable {
 		product = null;
 		serial = AltosLib.MISSING;
 		receiver_serial = AltosLib.MISSING;
+		altitude_32 = AltosLib.MISSING;
 
 		baro = null;
 		companion = null;
@@ -842,6 +884,10 @@ public class AltosState implements Cloneable {
 
 		gps_altitude.copy(old.gps_altitude);
 		gps_ground_altitude.copy(old.gps_ground_altitude);
+		gps_ground_speed.copy(old.gps_ground_speed);
+		gps_ascent_rate.copy(old.gps_ascent_rate);
+		gps_course.copy(old.gps_course);
+		gps_speed.copy(old.gps_speed);
 
 		pad_lat = old.pad_lat;
 		pad_lon = old.pad_lon;
@@ -851,6 +897,7 @@ public class AltosState implements Cloneable {
 		speak_altitude = old.speak_altitude;
 
 		callsign = old.callsign;
+		firmware_version = old.firmware_version;
 
 		accel_plus_g = old.accel_plus_g;
 		accel_minus_g = old.accel_minus_g;
@@ -862,6 +909,7 @@ public class AltosState implements Cloneable {
 		product = old.product;
 		serial = old.serial;
 		receiver_serial = old.receiver_serial;
+		altitude_32 = old.altitude_32;
 
 		baro = old.baro;
 		companion = old.companion;
@@ -873,17 +921,17 @@ public class AltosState implements Cloneable {
 	}
 
 	void update_gps() {
-		elevation = 0;
-		range = -1;
+		elevation = AltosLib.MISSING;
+		range = AltosLib.MISSING;
 
 		if (gps == null)
 			return;
 
 		if (gps.locked && gps.nsat >= 4) {
 			/* Track consecutive 'good' gps reports, waiting for 10 of them */
-			if (state == AltosLib.ao_flight_pad) {
+			if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) {
 				set_npad(npad+1);
-				if (pad_lat != AltosLib.MISSING) {
+				if (pad_lat != AltosLib.MISSING && (npad < 10 || state == AltosLib.ao_flight_pad)) {
 					pad_lat = (pad_lat * 31 + gps.lat) / 32;
 					pad_lon = (pad_lon * 31 + gps.lon) / 32;
 					gps_ground_altitude.set_filtered(gps.alt, time);
@@ -899,6 +947,9 @@ public class AltosState implements Cloneable {
 				gps_ascent_rate.set(gps.climb_rate, time);
 			if (gps.ground_speed != AltosLib.MISSING)
 				gps_ground_speed.set(gps.ground_speed, time);
+			if (gps.climb_rate != AltosLib.MISSING && gps.ground_speed != AltosLib.MISSING)
+				gps_speed.set(Math.sqrt(gps.ground_speed * gps.ground_speed +
+							gps.climb_rate * gps.climb_rate), time);
 			if (gps.course != AltosLib.MISSING)
 				gps_course.set(gps.course, time);
 		}
@@ -945,18 +996,34 @@ public class AltosState implements Cloneable {
 				  state <= AltosLib.ao_flight_coast);
 			boost = (AltosLib.ao_flight_boost == state);
 		}
-
 	}
 
 	public void set_device_type(int device_type) {
 		this.device_type = device_type;
+		switch (device_type) {
+		case AltosLib.product_telegps:
+			this.state = AltosLib.ao_flight_stateless;
+			break;
+		}
 	}
 
-	public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
-		config_major = major;
-		config_minor = minor;
+	public void set_log_format(int log_format) {
+		this.log_format = log_format;
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEGPS:
+			this.state = AltosLib.ao_flight_stateless;
+			break;
+		}
+	}
+
+	public void set_flight_params(int apogee_delay, int main_deploy) {
 		this.apogee_delay = apogee_delay;
 		this.main_deploy = main_deploy;
+	}
+
+	public void set_config(int major, int minor, int flight_log_max) {
+		config_major = major;
+		config_minor = minor;
 		this.flight_log_max = flight_log_max;
 	}
 
@@ -968,15 +1035,27 @@ public class AltosState implements Cloneable {
 		firmware_version = version;
 	}
 
+	public int compare_version(String other_version) {
+		if (firmware_version == null)
+			return AltosLib.MISSING;
+		return AltosLib.compare_version(firmware_version, other_version);
+	}
+
+	private void re_init() {
+		int bt = boost_tick;
+		int rs = receiver_serial;
+		init();
+		boost_tick = bt;
+		receiver_serial = rs;
+	}
+
 	public void set_flight(int flight) {
 
 		/* When the flight changes, reset the state */
-		if (flight != AltosLib.MISSING && flight != 0) {
+		if (flight != AltosLib.MISSING) {
 			if (this.flight != AltosLib.MISSING &&
 			    this.flight != flight) {
-				int bt = boost_tick;
-				init();
-				boost_tick = bt;
+				re_init();
 			}
 			this.flight = flight;
 		}
@@ -987,9 +1066,7 @@ 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;
+				re_init();
 			}
 			this.serial = serial;
 		}
@@ -1000,6 +1077,15 @@ public class AltosState implements Cloneable {
 			receiver_serial = serial;
 	}
 
+	public boolean altitude_32() {
+		return altitude_32 == 1;
+	}
+
+	public void set_altitude_32(int altitude_32) {
+		if (altitude_32 != AltosLib.MISSING)
+			this.altitude_32 = altitude_32;
+	}
+
 	public int rssi() {
 		if (rssi == AltosLib.MISSING)
 			return 0;