X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosState.java;h=7a64f8a188182704c5aa6fbd01e17fb627eef5e5;hp=a3b9a8c07efafdb54f889094c09e1b7ba6a505f9;hb=e64b1bc108bd75bcd6271631e48abde84af4631f;hpb=c6f85cb149dff8732104521cb62b355e8a0d7148

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index a3b9a8c0..7a64f8a1 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,54 +20,674 @@
  * Track flight state from telemetry or eeprom data stream
  */
 
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_13;
 
-public class AltosState {
-	public AltosRecord data;
+public class AltosState extends AltosDataListener {
+
+	public static final int set_position = 1;
+	public static final int set_gps = 2;
+	public static final int set_data = 4;
+
+	public int set;
+
+	static final double filter_len = 2.0;
+	static final double ascent_filter_len = 0.5;
+	static final double descent_filter_len = 5.0;
 
 	/* derived data */
 
-	public long  	report_time;
+	public long	received_time;
+
+	public int	rssi;
+	public int	status;
+
+	class AltosValue {
+		double	value;
+		double	prev_value;
+		private double	max_value;
+		private double	set_time;
+		private double	prev_set_time;
+
+		boolean can_max() { return true; }
+
+		void set(double new_value, double time) {
+			if (new_value != AltosLib.MISSING) {
+				value = new_value;
+				if (can_max() && (max_value == AltosLib.MISSING || value > max_value))
+					max_value = value;
+				set_time = time;
+			}
+		}
+
+		void set_filtered(double new_value, double time) {
+			if (prev_value != AltosLib.MISSING) {
+				double f = 1/Math.exp((time - prev_set_time) / filter_len);
+				new_value = f * new_value + (1-f) * prev_value;
+			}
+			set(new_value, time);
+		}
+
+		double value() {
+			return value;
+		}
+
+		double max() {
+			return max_value;
+		}
+
+		double prev() {
+			return prev_value;
+		}
+
+		double change() {
+			if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
+				return value - prev_value;
+			return AltosLib.MISSING;
+		}
+
+		double rate() {
+			double c = change();
+			double t = set_time - prev_set_time;
+
+			if (c != AltosLib.MISSING && t != 0)
+				return c / t;
+			return AltosLib.MISSING;
+		}
+
+		double integrate() {
+			if (value == AltosLib.MISSING)
+				return AltosLib.MISSING;
+			if (prev_value == AltosLib.MISSING)
+				return AltosLib.MISSING;
 
-	public double	time;
-	public double	time_change;
-	public int	tick;
+			return (value + prev_value) / 2 * (set_time - prev_set_time);
+		}
+
+		double time() {
+			return set_time;
+		}
+
+		void set_derivative(AltosValue in) {
+			double	n = in.rate();
+
+			if (n == AltosLib.MISSING)
+				return;
+
+			double	p = prev_value;
+			double	pt = prev_set_time;
+
+			if (p == AltosLib.MISSING) {
+				p = 0;
+				pt = in.time() - 0.01;
+			}
+
+			/* Clip changes to reduce noise */
+			double	ddt = in.time() - pt;
+			double	ddv = (n - p) / ddt;
+
+			final double max = 100000;
+
+			/* 100gs */
+			if (Math.abs(ddv) > max) {
+				if (n > p)
+					n = p + ddt * max;
+				else
+					n = p - ddt * max;
+			}
+
+			double filter_len;
+
+			if (ascent)
+				filter_len = ascent_filter_len;
+			else
+				filter_len = descent_filter_len;
+
+			double f = 1/Math.exp(ddt/ filter_len);
+			n = p * f + n * (1-f);
+
+			set(n, in.time());
+		}
+
+		void set_integral(AltosValue in) {
+			double	change = in.integrate();
+
+			if (change != AltosLib.MISSING) {
+				double	prev = prev_value;
+				if (prev == AltosLib.MISSING)
+					prev = 0;
+				set(prev + change, in.time());
+			}
+		}
+
+		void copy(AltosValue old) {
+			value = old.value;
+			set_time = old.set_time;
+			prev_value = old.value;
+			prev_set_time = old.set_time;
+			max_value = old.max_value;
+		}
+
+		void finish_update() {
+			prev_value = value;
+			prev_set_time = set_time;
+		}
+
+		AltosValue() {
+			value = AltosLib.MISSING;
+			prev_value = AltosLib.MISSING;
+			max_value = AltosLib.MISSING;
+		}
+
+	}
+
+	class AltosCValue {
+
+		class AltosIValue extends AltosValue {
+			boolean can_max() {
+				return c_can_max();
+			}
+
+			AltosIValue() {
+				super();
+			}
+		};
+
+		public AltosIValue	measured;
+		public AltosIValue	computed;
+
+		boolean can_max() { return true; }
+
+		boolean c_can_max() { return can_max(); }
+
+		double value() {
+			double v = measured.value();
+			if (v != AltosLib.MISSING)
+				return v;
+			return computed.value();
+		}
+
+		boolean is_measured() {
+			return measured.value() != AltosLib.MISSING;
+		}
+
+		double max() {
+			double m = measured.max();
+
+			if (m != AltosLib.MISSING)
+				return m;
+			return computed.max();
+		}
+
+		double prev_value() {
+			if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
+				return measured.prev_value;
+			return computed.prev_value;
+		}
+
+		AltosValue altos_value() {
+			if (measured.value() != AltosLib.MISSING)
+				return measured;
+			return computed;
+		}
+
+		double change() {
+			double c = measured.change();
+			if (c == AltosLib.MISSING)
+				c = computed.change();
+			return c;
+		}
+
+		double rate() {
+			double r = measured.rate();
+			if (r == AltosLib.MISSING)
+				r = computed.rate();
+			return r;
+		}
+
+		void set_measured(double new_value, double time) {
+			measured.set(new_value, time);
+		}
+
+		void set_computed(double new_value, double time) {
+			computed.set(new_value, time);
+		}
+
+		void set_derivative(AltosValue in) {
+			computed.set_derivative(in);
+		}
+
+		void set_derivative(AltosCValue in) {
+			set_derivative(in.altos_value());
+		}
+
+		void set_integral(AltosValue in) {
+			computed.set_integral(in);
+		}
+
+		void set_integral(AltosCValue in) {
+			set_integral(in.altos_value());
+		}
+
+		void copy(AltosCValue old) {
+			measured.copy(old.measured);
+			computed.copy(old.computed);
+		}
+
+		void finish_update() {
+			measured.finish_update();
+			computed.finish_update();
+		}
+
+		public AltosCValue() {
+			measured = new AltosIValue();
+			computed = new AltosIValue();
+		}
+	}
 
-	public int	state;
 	public boolean	landed;
 	public boolean	ascent;	/* going up? */
-	public boolean boost;	/* under power */
+	public boolean	boost;	/* under power */
+
+	private double pressure_to_altitude(double p) {
+		if (p == AltosLib.MISSING)
+			return AltosLib.MISSING;
+		return AltosConvert.pressure_to_altitude(p);
+	}
+
+	private AltosCValue ground_altitude;
+
+	public double ground_altitude() {
+		return ground_altitude.value();
+	}
+
+	public void set_ground_altitude(double a) {
+		ground_altitude.set_measured(a, time);
+	}
+
+	class AltosGpsGroundAltitude extends AltosValue {
+		void set(double a, double t) {
+			super.set(a, t);
+			pad_alt = value();
+			gps_altitude.set_gps_height();
+		}
+
+		void set_filtered(double a, double t) {
+			super.set_filtered(a, t);
+			pad_alt = value();
+			gps_altitude.set_gps_height();
+		}
+
+		AltosGpsGroundAltitude() {
+			super();
+		}
+	}
+
+	private AltosGpsGroundAltitude gps_ground_altitude;
+
+	public double gps_ground_altitude() {
+		return gps_ground_altitude.value();
+	}
+
+	public void set_gps_ground_altitude(double a) {
+		gps_ground_altitude.set(a, time);
+	}
+
+	class AltosGroundPressure extends AltosCValue {
+		void set_filtered(double p, double time) {
+			computed.set_filtered(p, time);
+			if (!is_measured())
+				ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
+		}
+
+		void set_measured(double p, double time) {
+			super.set_measured(p, time);
+			ground_altitude.set_computed(pressure_to_altitude(p), time);
+		}
+
+		AltosGroundPressure () {
+			super();
+		}
+	}
+
+	private AltosGroundPressure ground_pressure;
+
+	public double ground_pressure() {
+		return ground_pressure.value();
+	}
+
+	public void set_ground_pressure (double pressure) {
+		ground_pressure.set_measured(pressure, time);
+	}
+
+	class AltosAltitude extends AltosCValue {
+
+		private void set_speed(AltosValue v) {
+			if (!acceleration.is_measured() || !ascent)
+				speed.set_derivative(this);
+		}
+
+		void set_computed(double a, double time) {
+			super.set_computed(a,time);
+			set_speed(computed);
+			set |= set_position;
+		}
+
+		void set_measured(double a, double time) {
+			super.set_measured(a,time);
+			set_speed(measured);
+			set |= set_position;
+		}
+
+		AltosAltitude() {
+			super();
+		}
+	}
+
+	private AltosAltitude	altitude;
 
-	public double	ground_altitude;
-	public double	altitude;
-	public double	height;
-	public double	acceleration;
-	public double	battery;
+	class AltosGpsAltitude extends AltosValue {
+
+		private void set_gps_height() {
+			double	a = value();
+			double	g = gps_ground_altitude.value();
+
+			if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+				gps_height = a - g;
+			else
+				gps_height = AltosLib.MISSING;
+		}
+
+		void set(double a, double t) {
+			super.set(a, t);
+			set_gps_height();
+		}
+
+		AltosGpsAltitude() {
+			super();
+		}
+	}
+
+	private AltosGpsAltitude	gps_altitude;
+
+	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();
+		if (a != AltosLib.MISSING)
+			return a;
+		return gps_altitude.value();
+	}
+
+	public double max_altitude() {
+		double a = altitude.max();
+		if (a != AltosLib.MISSING)
+			return a;
+		return gps_altitude.max();
+	}
+
+	public void set_altitude(double new_altitude) {
+		double old_altitude = altitude.value();
+		if (old_altitude != AltosLib.MISSING) {
+			while (old_altitude - new_altitude > 32000)
+				new_altitude += 65536.0;
+		}
+		altitude.set_measured(new_altitude, time);
+	}
+
+	public double gps_altitude() {
+		return gps_altitude.value();
+	}
+
+	public double max_gps_altitude() {
+		return gps_altitude.max();
+	}
+
+	public void set_gps_altitude(double new_gps_altitude) {
+		gps_altitude.set(new_gps_altitude, time);
+	}
+
+	public double gps_ground_speed() {
+		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);
+			if (state() == AltosLib.ao_flight_pad)
+				ground_pressure.set_filtered(p, time);
+			double a = pressure_to_altitude(p);
+			altitude.set_computed(a, time);
+		}
+
+		AltosPressure() {
+			super();
+		}
+	}
+
+	private AltosPressure	pressure;
+
+	public double pressure() {
+		return pressure.value();
+	}
+
+	public void set_pressure(double p) {
+		pressure.set(p, time);
+	}
+
+	public void set_thrust(double N) {
+	}
+
+	public double baro_height() {
+		double a = altitude();
+		double g = ground_altitude();
+		if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+			return a - g;
+		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)
+			return k;
+
+		double a = altitude.max();
+		double g = ground_altitude();
+		if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+			return a - g;
+		return max_gps_height();
+	}
+
+	public double gps_height() {
+		double a = gps_altitude();
+		double g = gps_ground_altitude();
+
+		if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+			return a - g;
+		return AltosLib.MISSING;
+	}
+
+	public double max_gps_height() {
+		double a = gps_altitude.max();
+		double g = gps_ground_altitude();
+
+		if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+			return a - g;
+		return AltosLib.MISSING;
+	}
+
+	class AltosSpeed extends AltosCValue {
+
+		boolean can_max() {
+			return state() < AltosLib.ao_flight_fast || state() == AltosLib.ao_flight_stateless;
+		}
+
+		void set_accel() {
+			acceleration.set_derivative(this);
+		}
+
+		void set_derivative(AltosCValue in) {
+			super.set_derivative(in);
+			set_accel();
+		}
+
+		void set_computed(double new_value, double time) {
+			super.set_computed(new_value, time);
+			set_accel();
+		}
+
+		void set_measured(double new_value, double time) {
+			super.set_measured(new_value, time);
+			set_accel();
+		}
+
+		AltosSpeed() {
+			super();
+		}
+	}
+
+	private AltosSpeed speed;
+
+	public double speed() {
+		double v = kalman_speed.value();
+		if (v != AltosLib.MISSING)
+			return v;
+		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;
+		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 || state() == AltosLib.ao_flight_stateless;
+		}
+
+		void set_measured(double a, double time) {
+			super.set_measured(a, time);
+			if (ascent)
+				speed.set_integral(this.measured);
+		}
+
+		AltosAccel() {
+			super();
+		}
+	}
+
+	AltosAccel acceleration;
+
+	public double acceleration() {
+		return acceleration.value();
+	}
+
+	public double max_acceleration() {
+		return acceleration.max();
+	}
+
+	public AltosCValue	orient;
+
+	public void set_orient(double new_orient) {
+		orient.set_measured(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) {
+		double old_height = kalman_height.value();
+		if (old_height != AltosLib.MISSING) {
+			while (old_height - height > 32000)
+				height += 65536;
+		}
+		kalman_height.set(height, time);
+		kalman_speed.set(speed, time);
+		kalman_acceleration.set(acceleration, time);
+	}
+
+	public double	battery_voltage;
+	public double	pyro_voltage;
 	public double	temperature;
-	public double	main_sense;
-	public double	drogue_sense;
-	public double	accel_speed;
-	public double	baro_speed;
+	public double	apogee_voltage;
+	public double	main_voltage;
 
-	public double	max_height;
-	public double	max_acceleration;
-	public double	max_accel_speed;
-	public double	max_baro_speed;
+	public double	igniter_voltage[];
 
 	public AltosGPS	gps;
-
-	public AltosIMU	imu;
-	public AltosMag	mag;
+	public boolean	gps_pending;
 
 	public static final int MIN_PAD_SAMPLES = 10;
 
 	public int	npad;
-	public int	ngps;
 	public int	gps_waiting;
 	public boolean	gps_ready;
 
+	public int	ngps;
+
 	public AltosGreatCircle from_pad;
 	public double	elevation;	/* from pad */
+	public double	distance;	/* distance along ground */
 	public double	range;		/* total distance */
 
 	public double	gps_height;
@@ -76,201 +697,367 @@ public class AltosState {
 	public int	speak_tick;
 	public double	speak_altitude;
 
-	public double speed() {
-		if (ascent)
-			return accel_speed;
-		else
-			return baro_speed;
+	public double	ground_accel;
+
+	public AltosCompanion	companion;
+
+	public int	pyro_fired;
+
+	public void set_npad(int npad) {
+		this.npad = npad;
+		gps_waiting = MIN_PAD_SAMPLES - npad;
+		if (this.gps_waiting < 0)
+			gps_waiting = 0;
+		gps_ready = gps_waiting == 0;
 	}
 
-	public double max_speed() {
-		if (max_accel_speed != 0)
-			return max_accel_speed;
-		return max_baro_speed;
-	}
-
-	public void init (AltosRecord cur, AltosState prev_state) {
-		data = cur;
-
-		/* Discard previous state if it was for a different board */
-		if (prev_state != null && prev_state.data.serial != data.serial)
-			prev_state = null;
-		ground_altitude = data.ground_altitude();
-
-		altitude = data.altitude();
-		if (altitude == AltosRecord.MISSING && data.gps != null)
-			altitude = data.gps.alt;
-
-		height = AltosRecord.MISSING;
-		if (data.kalman_height != AltosRecord.MISSING)
-			height = data.kalman_height;
-		else {
-			if (altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING) {
-				double	cur_height = altitude - ground_altitude;
-				if (prev_state == null || prev_state.height == AltosRecord.MISSING)
-					height = cur_height;
-				else
-					height = (prev_state.height * 15 + cur_height) / 16.0;
-			}
-		}
+	public void init() {
+		super.init();
 
-		report_time = System.currentTimeMillis();
-
-		if (data.kalman_acceleration != AltosRecord.MISSING)
-			acceleration = data.kalman_acceleration;
-		else
-			acceleration = data.acceleration();
-		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_accel_speed = prev_state.max_accel_speed;
-			max_baro_speed = prev_state.max_baro_speed;
-			imu = prev_state.imu;
-			mag = prev_state.mag;
-
-			/* make sure the clock is monotonic */
-			while (tick < prev_state.tick)
-				tick += 65536;
-
-			time_change = (tick - prev_state.tick) / 100.0;
-
-			if (data.kalman_speed != AltosRecord.MISSING) {
-				baro_speed = accel_speed = data.kalman_speed;
-			} else {
-				/* compute barometric speed */
-
-				double height_change = height - prev_state.height;
-
-				double prev_baro_speed = prev_state.baro_speed;
-				if (prev_baro_speed == AltosRecord.MISSING)
-					prev_baro_speed = 0;
-
-				if (time_change > 0)
-					baro_speed = (prev_baro_speed * 3 + (height_change / time_change)) / 4.0;
-				else
-					baro_speed = prev_state.baro_speed;
+		set = 0;
 
-				double prev_accel_speed = prev_state.accel_speed;
+		received_time = System.currentTimeMillis();
+		landed = false;
+		boost = false;
+		rssi = AltosLib.MISSING;
+		status = 0;
 
-				if (prev_accel_speed == AltosRecord.MISSING)
-					prev_accel_speed = 0;
+		ground_altitude = new AltosCValue();
+		ground_pressure = new AltosGroundPressure();
+		altitude = new AltosAltitude();
+		pressure = new AltosPressure();
+		speed = new AltosSpeed();
+		acceleration = new AltosAccel();
+		orient = new AltosCValue();
 
-				if (acceleration == AltosRecord.MISSING) {
-					/* Fill in mising acceleration value */
-					accel_speed = baro_speed;
+		temperature = AltosLib.MISSING;
+		battery_voltage = AltosLib.MISSING;
+		pyro_voltage = AltosLib.MISSING;
+		apogee_voltage = AltosLib.MISSING;
+		main_voltage = AltosLib.MISSING;
+		igniter_voltage = null;
 
-					if (time_change > 0 && accel_speed != AltosRecord.MISSING)
-						acceleration = (accel_speed - prev_accel_speed) / time_change;
-					else
-						acceleration = prev_state.acceleration;
-				} else {
-					/* compute accelerometer speed */
-					accel_speed = prev_accel_speed + acceleration * time_change;
-				}
-			}
-		} else {
-			npad = 0;
-			ngps = 0;
-			gps = null;
-			baro_speed = AltosRecord.MISSING;
-			accel_speed = AltosRecord.MISSING;
-			pad_alt = AltosRecord.MISSING;
-			max_baro_speed = 0;
-			max_accel_speed = 0;
-			max_height = 0;
-			max_acceleration = 0;
-			time_change = 0;
-		}
+		kalman_height = new AltosValue();
+		kalman_speed = new AltosValue();
+		kalman_acceleration = new AltosValue();
+
+		gps = null;
+		gps_pending = false;
+
+		last_imu_time = AltosLib.MISSING;
+		rotation = null;
+
+		accel_ground_along = AltosLib.MISSING;
+		accel_ground_across = AltosLib.MISSING;
+		accel_ground_through = AltosLib.MISSING;
+
+		accel_along = AltosLib.MISSING;
+		accel_across = AltosLib.MISSING;
+		accel_through = AltosLib.MISSING;
+
+		gyro_roll = AltosLib.MISSING;
+		gyro_pitch = AltosLib.MISSING;
+		gyro_yaw = AltosLib.MISSING;
+
+		mag_along = AltosLib.MISSING;
+		mag_across = AltosLib.MISSING;
+		mag_through = AltosLib.MISSING;
+
+		set_npad(0);
+		ngps = 0;
+
+		from_pad = null;
+		elevation = AltosLib.MISSING;
+		distance = AltosLib.MISSING;
+		range = AltosLib.MISSING;
+		gps_height = AltosLib.MISSING;
 
-		time = tick / 100.0;
+		pad_lat = AltosLib.MISSING;
+		pad_lon = AltosLib.MISSING;
+		pad_alt = AltosLib.MISSING;
 
-		if (cur.new_gps && (state < AltosLib.ao_flight_boost)) {
+		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;
+
+		ground_accel = AltosLib.MISSING;
+
+		companion = null;
+
+		pyro_fired = 0;
+	}
+
+	void finish_update() {
+		ground_altitude.finish_update();
+		altitude.finish_update();
+		pressure.finish_update();
+		speed.finish_update();
+		acceleration.finish_update();
+		orient.finish_update();
+
+		kalman_height.finish_update();
+		kalman_speed.finish_update();
+		kalman_acceleration.finish_update();
+	}
+
+	void update_time() {
+	}
+
+	void update_gps() {
+		elevation = AltosLib.MISSING;
+		distance = 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 (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
-				npad++;
-			else
-				npad = 0;
-
-			/* Average GPS data while on the pad */
-			if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
-				if (ngps > 1 && state == AltosLib.ao_flight_pad) {
-					/* 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;
+			if (state() == AltosLib.ao_flight_pad || state() == AltosLib.ao_flight_stateless) {
+				set_npad(npad+1);
+				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);
 				}
-				ngps++;
 			}
-		} else {
-			if (ngps == 0 && ground_altitude != AltosRecord.MISSING)
-				pad_alt = ground_altitude;
+			if (pad_lat == AltosLib.MISSING) {
+				pad_lat = gps.lat;
+				pad_lon = gps.lon;
+				gps_ground_altitude.set(gps.alt, time);
+			}
+			gps_altitude.set(gps.alt, time);
+			if (gps.climb_rate != AltosLib.MISSING)
+				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);
+		} else if (state() == AltosLib.ao_flight_pad || state() == AltosLib.ao_flight_stateless) {
+			set_npad(0);
 		}
+		if (gps.lat != 0 && gps.lon != 0 &&
+		    pad_lat != AltosLib.MISSING &&
+		    pad_lon != AltosLib.MISSING)
+		{
+			double h = height();
 
-		data.new_gps = false;
+			if (h == AltosLib.MISSING)
+				h = 0;
+			from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
+			elevation = from_pad.elevation;
+			distance = from_pad.distance;
+			range = from_pad.range;
+		}
+	}
 
-		gps_waiting = MIN_PAD_SAMPLES - npad;
-		if (gps_waiting < 0)
-			gps_waiting = 0;
+	public String state_name() {
+		return AltosLib.state_name(state());
+	}
 
-		gps_ready = gps_waiting == 0;
+	public void set_state(int state) {
+		super.set_state(state);
+		ascent = (AltosLib.ao_flight_boost <= state() &&
+			  state() <= AltosLib.ao_flight_coast);
+		boost = (AltosLib.ao_flight_boost == state());
+	}
+
+	public int rssi() {
+		if (rssi == AltosLib.MISSING)
+			return 0;
+		return rssi;
+	}
 
-		ascent = (AltosLib.ao_flight_boost <= state &&
-			  state <= AltosLib.ao_flight_coast);
-		boost = (AltosLib.ao_flight_boost == state);
-
-		/* Only look at accelerometer data under boost */
-		if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
-			max_acceleration = acceleration;
-		if (boost && accel_speed != AltosRecord.MISSING && accel_speed > max_accel_speed)
-			max_accel_speed = accel_speed;
-		if (boost && baro_speed != AltosRecord.MISSING && baro_speed > max_baro_speed)
-			max_baro_speed = baro_speed;
-
-		if (height != AltosRecord.MISSING && height > max_height)
-			max_height = height;
-		elevation = 0;
-		range = -1;
-		gps_height = 0;
-		if (data.gps != null) {
-			if (gps == null || !gps.locked || data.gps.locked)
-				gps = data.gps;
-			if (ngps > 0 && gps.locked) {
-				double h = height;
-
-				if (h == AltosRecord.MISSING) h = 0;
-				from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
-				elevation = from_pad.elevation;
-				range = from_pad.range;
-				gps_height = gps.alt - pad_alt;
+	public void set_rssi(int rssi, int status) {
+		if (rssi != AltosLib.MISSING) {
+			this.rssi = rssi;
+			this.status = status;
+		}
+	}
+
+	public void set_received_time(long ms) {
+		received_time = ms;
+	}
+
+	public void set_gps(AltosGPS gps) {
+		super.set_gps(gps);
+		if (gps != null) {
+			this.gps = gps;
+			update_gps();
+			set |= set_gps;
+		}
+	}
+
+	public AltosRotation	rotation;
+
+	public double	accel_ground_along, accel_ground_across, accel_ground_through;
+
+	void update_pad_rotation() {
+		if (cal_data().pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
+			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);
+			orient.set_computed(rotation.tilt(), time);
+		}
+	}
+
+	public void set_accel_ground(double ground_along, double ground_across, double ground_through) {
+		accel_ground_along = ground_along;
+		accel_ground_across = ground_across;
+		accel_ground_through = ground_through;
+		update_pad_rotation();
+	}
+
+	public double	last_imu_time;
+
+	private void update_orient() {
+		if (last_imu_time != AltosLib.MISSING) {
+			double	t = time - last_imu_time;
+
+			if (t > 0 && gyro_pitch != AltosLib.MISSING && rotation != null) {
+				double	pitch = AltosConvert.degrees_to_radians(gyro_pitch) * t;
+				double	yaw = AltosConvert.degrees_to_radians(gyro_yaw) * t;
+				double	roll = AltosConvert.degrees_to_radians(gyro_roll) * t;
+
+				rotation.rotate(pitch, yaw, roll);
+				orient.set_computed(rotation.tilt(), time);
 			}
 		}
+		last_imu_time = time;
+	}
+
+	private double	gyro_roll, gyro_pitch, gyro_yaw;
+
+	public void set_gyro(double roll, double pitch, double yaw) {
+		gyro_roll = roll;
+		gyro_pitch = pitch;
+		gyro_yaw = yaw;
+		update_orient();
+	}
+
+	private double accel_along, accel_across, accel_through;
+
+	public void set_accel(double along, double across, double through) {
+		accel_along = along;
+		accel_across = across;
+		accel_through = through;
+		update_orient();
+	}
+
+	public double accel_along() {
+		return accel_along;
+	}
+
+	public double accel_across() {
+		return accel_across;
+	}
+
+	public double accel_through() {
+		return accel_through;
+	}
+
+	public double gyro_roll() {
+		return gyro_roll;
+	}
+
+	public double gyro_pitch() {
+		return gyro_pitch;
+	}
+
+	public double gyro_yaw() {
+		return gyro_yaw;
+	}
+
+	private double mag_along, mag_across, mag_through;
+
+	public void set_mag(double along, double across, double through) {
+		mag_along = along;
+		mag_across = across;
+		mag_through = through;
+	}
+
+	public double mag_along() {
+		return mag_along;
+	}
+
+	public double mag_across() {
+		return mag_across;
+	}
+
+	public double mag_through() {
+		return mag_through;
+	}
+
+	public void set_companion(AltosCompanion companion) {
+		this.companion = companion;
+	}
+
+	public void set_acceleration(double acceleration) {
+		if (acceleration != AltosLib.MISSING) {
+			this.acceleration.set_measured(acceleration, time);
+			set |= set_data;
+		}
+	}
+
+	public void set_temperature(double temperature) {
+		if (temperature != AltosLib.MISSING) {
+			this.temperature = temperature;
+			set |= set_data;
+		}
+	}
+
+	public void set_battery_voltage(double battery_voltage) {
+		if (battery_voltage != AltosLib.MISSING) {
+			this.battery_voltage = battery_voltage;
+			set |= set_data;
+		}
+	}
+
+	public void set_pyro_voltage(double pyro_voltage) {
+		if (pyro_voltage != AltosLib.MISSING) {
+			this.pyro_voltage = pyro_voltage;
+			set |= set_data;
+		}
+	}
+
+	public void set_apogee_voltage(double apogee_voltage) {
+		if (apogee_voltage != AltosLib.MISSING) {
+			this.apogee_voltage = apogee_voltage;
+			set |= set_data;
+		}
+	}
+
+	public void set_main_voltage(double main_voltage) {
+		if (main_voltage != AltosLib.MISSING) {
+			this.main_voltage = main_voltage;
+			set |= set_data;
+		}
+	}
+
+	public void set_igniter_voltage(double[] voltage) {
+		this.igniter_voltage = voltage;
+	}
+
+	public void set_pyro_fired(int fired) {
+		this.pyro_fired = fired;
 	}
 
-	public AltosState(AltosRecord cur) {
-		init(cur, null);
+	public AltosState() {
+		init();
 	}
 
-	public AltosState (AltosRecord cur, AltosState prev) {
-		init(cur, prev);
+	public AltosState (AltosCalData cal_data) {
+		super(cal_data);
+		init();
 	}
 }