X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosState.java;h=7a64f8a188182704c5aa6fbd01e17fb627eef5e5;hp=d391dcfb2f2773c90ec4cb711c54aa7d97ea076d;hb=e64b1bc108bd75bcd6271631e48abde84af4631f;hpb=876acbdc22ff93c22836f789e0b6394eb19e0da3 diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index d391dcfb..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 @@ -19,9 +20,9 @@ * Track flight state from telemetry or eeprom data stream */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_13; -public class AltosState implements Cloneable { +public class AltosState extends AltosDataListener { public static final int set_position = 1; public static final int set_gps = 2; @@ -29,23 +30,20 @@ public class AltosState implements Cloneable { public int set; + static final double filter_len = 2.0; static final double ascent_filter_len = 0.5; - static final double descent_filter_len = 0.5; + static final double descent_filter_len = 5.0; /* derived data */ public long received_time; - public double time; - public double prev_time; - public double time_change; - public int tick; - private int prev_tick; - public int boost_tick; + public int rssi; + public int status; class AltosValue { - private double value; - private double prev_value; + double value; + double prev_value; private double max_value; private double set_time; private double prev_set_time; @@ -62,8 +60,10 @@ public class AltosState implements Cloneable { } void set_filtered(double new_value, double time) { - if (prev_value != AltosLib.MISSING) - new_value = (prev_value * 15.0 + new_value) / 16.0; + 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); } @@ -177,11 +177,27 @@ public class AltosState implements Cloneable { prev_value = AltosLib.MISSING; max_value = AltosLib.MISSING; } + } class AltosCValue { - AltosValue measured; - AltosValue computed; + + 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(); @@ -262,27 +278,15 @@ public class AltosState implements Cloneable { computed.finish_update(); } - AltosCValue() { - measured = new AltosValue(); - computed = new AltosValue(); + public AltosCValue() { + measured = new AltosIValue(); + computed = new AltosIValue(); } } - public int state; - public int flight; - public int serial; - public int receiver_serial; public boolean landed; public boolean ascent; /* going up? */ public boolean boost; /* under power */ - public int rssi; - public int status; - public int device_type; - public int config_major; - public int config_minor; - public int apogee_delay; - public int main_deploy; - public int flight_log_max; private double pressure_to_altitude(double p) { if (p == AltosLib.MISSING) @@ -312,6 +316,10 @@ public class AltosState implements Cloneable { pad_alt = value(); gps_altitude.set_gps_height(); } + + AltosGpsGroundAltitude() { + super(); + } } private AltosGpsGroundAltitude gps_ground_altitude; @@ -335,6 +343,10 @@ public class AltosState implements Cloneable { super.set_measured(p, time); ground_altitude.set_computed(pressure_to_altitude(p), time); } + + AltosGroundPressure () { + super(); + } } private AltosGroundPressure ground_pressure; @@ -365,6 +377,10 @@ public class AltosState implements Cloneable { set_speed(measured); set |= set_position; } + + AltosAltitude() { + super(); + } } private AltosAltitude altitude; @@ -385,6 +401,10 @@ public class AltosState implements Cloneable { super.set(a, t); set_gps_height(); } + + AltosGpsAltitude() { + super(); + } } private AltosGpsAltitude gps_altitude; @@ -409,6 +429,11 @@ public class AltosState implements Cloneable { } 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); } @@ -455,11 +480,15 @@ public class AltosState implements Cloneable { class AltosPressure extends AltosValue { void set(double p, double time) { super.set(p, time); - if (state == AltosLib.ao_flight_pad) + 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; @@ -472,15 +501,26 @@ public class AltosState implements Cloneable { pressure.set(p, time); } - public double height() { - double k = kalman_height.value(); - if (k != AltosLib.MISSING) - return k; + 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(); } @@ -517,7 +557,7 @@ public class AltosState implements Cloneable { class AltosSpeed extends AltosCValue { boolean can_max() { - return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless; + return state() < AltosLib.ao_flight_fast || state() == AltosLib.ao_flight_stateless; } void set_accel() { @@ -538,6 +578,10 @@ public class AltosState implements Cloneable { super.set_measured(new_value, time); set_accel(); } + + AltosSpeed() { + super(); + } } private AltosSpeed speed; @@ -571,7 +615,7 @@ public class AltosState implements Cloneable { class AltosAccel extends AltosCValue { boolean can_max() { - return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless; + return state() < AltosLib.ao_flight_fast || state() == AltosLib.ao_flight_stateless; } void set_measured(double a, double time) { @@ -579,6 +623,10 @@ public class AltosState implements Cloneable { if (ascent) speed.set_integral(this.measured); } + + AltosAccel() { + super(); + } } AltosAccel acceleration; @@ -591,10 +639,10 @@ public class AltosState implements Cloneable { return acceleration.max(); } - public AltosValue orient; + public AltosCValue orient; public void set_orient(double new_orient) { - orient.set(new_orient, time); + orient.set_measured(new_orient, time); } public double orient() { @@ -608,6 +656,11 @@ public class AltosState implements Cloneable { 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); @@ -619,16 +672,10 @@ public class AltosState implements Cloneable { public double apogee_voltage; public double main_voltage; - public double ignitor_voltage[]; + public double igniter_voltage[]; public AltosGPS gps; - public AltosGPS temp_gps; - public int temp_gps_sat_tick; public boolean gps_pending; - public int gps_sequence; - - public AltosIMU imu; - public AltosMag mag; public static final int MIN_PAD_SAMPLES = 10; @@ -640,6 +687,7 @@ public class AltosState implements Cloneable { public AltosGreatCircle from_pad; public double elevation; /* from pad */ + public double distance; /* distance along ground */ public double range; /* total distance */ public double gps_height; @@ -649,19 +697,7 @@ public class AltosState implements Cloneable { public int speak_tick; public double speak_altitude; - public String callsign; - public String firmware_version; - - public double accel_plus_g; - public double accel_minus_g; - public double accel; public double ground_accel; - public double ground_accel_avg; - - public int log_format; - public String product; - - public AltosMs5607 baro; public AltosCompanion companion; @@ -676,27 +712,15 @@ public class AltosState implements Cloneable { } public void init() { + super.init(); + set = 0; received_time = System.currentTimeMillis(); - time = AltosLib.MISSING; - time_change = AltosLib.MISSING; - prev_time = AltosLib.MISSING; - tick = AltosLib.MISSING; - prev_tick = AltosLib.MISSING; - boost_tick = AltosLib.MISSING; - state = AltosLib.ao_flight_invalid; - flight = AltosLib.MISSING; landed = false; boost = false; rssi = AltosLib.MISSING; status = 0; - device_type = AltosLib.MISSING; - config_major = AltosLib.MISSING; - config_minor = AltosLib.MISSING; - apogee_delay = AltosLib.MISSING; - main_deploy = AltosLib.MISSING; - flight_log_max = AltosLib.MISSING; ground_altitude = new AltosCValue(); ground_pressure = new AltosGroundPressure(); @@ -704,33 +728,47 @@ public class AltosState implements Cloneable { pressure = new AltosPressure(); speed = new AltosSpeed(); acceleration = new AltosAccel(); - orient = new AltosValue(); + orient = new AltosCValue(); temperature = AltosLib.MISSING; battery_voltage = AltosLib.MISSING; pyro_voltage = AltosLib.MISSING; apogee_voltage = AltosLib.MISSING; main_voltage = AltosLib.MISSING; - ignitor_voltage = null; + igniter_voltage = null; kalman_height = new AltosValue(); kalman_speed = new AltosValue(); kalman_acceleration = new AltosValue(); gps = null; - temp_gps = null; - temp_gps_sat_tick = 0; - gps_sequence = 0; gps_pending = false; - imu = null; - mag = null; + 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; @@ -748,30 +786,14 @@ public class AltosState implements Cloneable { speak_tick = AltosLib.MISSING; speak_altitude = AltosLib.MISSING; - callsign = null; - firmware_version = null; - - accel_plus_g = AltosLib.MISSING; - accel_minus_g = AltosLib.MISSING; - accel = AltosLib.MISSING; - ground_accel = AltosLib.MISSING; - ground_accel_avg = AltosLib.MISSING; - - log_format = AltosLib.MISSING; - product = null; - serial = AltosLib.MISSING; - receiver_serial = AltosLib.MISSING; - baro = null; companion = null; pyro_fired = 0; } void finish_update() { - prev_tick = tick; - ground_altitude.finish_update(); altitude.finish_update(); pressure.finish_update(); @@ -784,143 +806,22 @@ public class AltosState implements Cloneable { kalman_acceleration.finish_update(); } - void copy(AltosState old) { - - if (old == null) { - init(); - return; - } - - received_time = old.received_time; - time = old.time; - time_change = old.time_change; - prev_time = old.time; - - tick = old.tick; - prev_tick = old.tick; - boost_tick = old.boost_tick; - - state = old.state; - flight = old.flight; - landed = old.landed; - ascent = old.ascent; - boost = old.boost; - rssi = old.rssi; - status = old.status; - device_type = old.device_type; - config_major = old.config_major; - config_minor = old.config_minor; - apogee_delay = old.apogee_delay; - main_deploy = old.main_deploy; - flight_log_max = old.flight_log_max; - - set = 0; - - ground_pressure.copy(old.ground_pressure); - ground_altitude.copy(old.ground_altitude); - altitude.copy(old.altitude); - 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; - temperature = old.temperature; - apogee_voltage = old.apogee_voltage; - main_voltage = old.main_voltage; - ignitor_voltage = old.ignitor_voltage; - - kalman_height.copy(old.kalman_height); - kalman_speed.copy(old.kalman_speed); - kalman_acceleration.copy(old.kalman_acceleration); - - if (old.gps != null) - gps = old.gps.clone(); - else - gps = null; - if (old.temp_gps != null) - temp_gps = old.temp_gps.clone(); - else - temp_gps = null; - temp_gps_sat_tick = old.temp_gps_sat_tick; - gps_sequence = old.gps_sequence; - gps_pending = old.gps_pending; - - if (old.imu != null) - imu = old.imu.clone(); - else - imu = null; - - if (old.mag != null) - mag = old.mag.clone(); - else - mag = null; - - npad = old.npad; - gps_waiting = old.gps_waiting; - gps_ready = old.gps_ready; - ngps = old.ngps; - - if (old.from_pad != null) - from_pad = old.from_pad.clone(); - else - from_pad = null; - - elevation = old.elevation; - range = old.range; - - gps_height = old.gps_height; - - 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; - pad_alt = old.pad_alt; - - speak_tick = old.speak_tick; - 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; - accel = old.accel; - ground_accel = old.ground_accel; - ground_accel_avg = old.ground_accel_avg; - - log_format = old.log_format; - product = old.product; - serial = old.serial; - receiver_serial = old.receiver_serial; - - baro = old.baro; - companion = old.companion; - - pyro_fired = old.pyro_fired; - } - void update_time() { } void update_gps() { - elevation = 0; - range = -1; + 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 (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) { + 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)) { + 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); @@ -941,6 +842,8 @@ public class AltosState implements Cloneable { 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 && @@ -952,216 +855,158 @@ public class AltosState implements Cloneable { 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; } } - public void set_tick(int new_tick) { - if (new_tick != AltosLib.MISSING) { - if (prev_tick != AltosLib.MISSING) { - while (new_tick < prev_tick - 1000) { - new_tick += 65536; - } - } - tick = new_tick; - time = tick / 100.0; - time_change = time - prev_time; - } + public String state_name() { + return AltosLib.state_name(state()); } - public void set_boost_tick(int boost_tick) { - if (boost_tick != AltosLib.MISSING) - this.boost_tick = boost_tick; + 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 String state_name() { - return AltosLib.state_name(state); + public int rssi() { + if (rssi == AltosLib.MISSING) + return 0; + return rssi; } - public void set_state(int state) { - if (state != AltosLib.ao_flight_invalid) { - this.state = state; - ascent = (AltosLib.ao_flight_boost <= state && - state <= AltosLib.ao_flight_coast); - boost = (AltosLib.ao_flight_boost == state); + public void set_rssi(int rssi, int status) { + if (rssi != AltosLib.MISSING) { + this.rssi = rssi; + this.status = status; } } - 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_received_time(long ms) { + received_time = ms; } - 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_gps(AltosGPS gps) { + super.set_gps(gps); + if (gps != null) { + this.gps = gps; + update_gps(); + set |= set_gps; } } - public void set_flight_params(int apogee_delay, int main_deploy) { - this.apogee_delay = apogee_delay; - this.main_deploy = main_deploy; - } + public AltosRotation rotation; - 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; - } + public double accel_ground_along, accel_ground_across, accel_ground_through; - public void set_callsign(String callsign) { - this.callsign = callsign; + 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_firmware_version(String version) { - firmware_version = version; + 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 void set_flight(int flight) { + public double last_imu_time; - /* When the flight changes, reset the state */ - 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; - } - } + private void update_orient() { + if (last_imu_time != AltosLib.MISSING) { + double t = time - last_imu_time; - public void set_serial(int serial) { - /* When the serial changes, reset the state */ - if (serial != AltosLib.MISSING) { - if (this.serial != AltosLib.MISSING && - this.serial != serial) { - int bt = boost_tick; - init(); - boost_tick = bt; + 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); } - this.serial = serial; } + last_imu_time = time; } - public void set_receiver_serial(int serial) { - if (serial != AltosLib.MISSING) - receiver_serial = serial; - } + private double gyro_roll, gyro_pitch, gyro_yaw; - public int rssi() { - if (rssi == AltosLib.MISSING) - return 0; - return rssi; + public void set_gyro(double roll, double pitch, double yaw) { + gyro_roll = roll; + gyro_pitch = pitch; + gyro_yaw = yaw; + update_orient(); } - public void set_rssi(int rssi, int status) { - if (rssi != AltosLib.MISSING) { - this.rssi = rssi; - this.status = status; - } - } + private double accel_along, accel_across, accel_through; - public void set_received_time(long ms) { - received_time = ms; + public void set_accel(double along, double across, double through) { + accel_along = along; + accel_across = across; + accel_through = through; + update_orient(); } - public void set_gps(AltosGPS gps, int sequence) { - if (gps != null) { - this.gps = gps.clone(); - gps_sequence = sequence; - update_gps(); - set |= set_gps; - } + public double accel_along() { + return accel_along; } - public void set_imu(AltosIMU imu) { - if (imu != null) - imu = imu.clone(); - this.imu = imu; + public double accel_across() { + return accel_across; } - public void set_mag(AltosMag mag) { - this.mag = mag.clone(); + public double accel_through() { + return accel_through; } - public AltosMs5607 make_baro() { - if (baro == null) - baro = new AltosMs5607(); - return baro; + public double gyro_roll() { + return gyro_roll; } - public void set_ms5607(AltosMs5607 ms5607) { - baro = ms5607; - - if (baro != null) { - set_pressure(baro.pa); - set_temperature(baro.cc / 100.0); - } + public double gyro_pitch() { + return gyro_pitch; } - public void set_ms5607(int pres, int temp) { - if (baro != null) { - baro.set(pres, temp); - - set_pressure(baro.pa); - set_temperature(baro.cc / 100.0); - } + public double gyro_yaw() { + return gyro_yaw; } - public void make_companion (int nchannels) { - if (companion == null) - companion = new AltosCompanion(nchannels); - } + private double mag_along, mag_across, mag_through; - public void set_companion(AltosCompanion companion) { - this.companion = companion; + public void set_mag(double along, double across, double through) { + mag_along = along; + mag_across = across; + mag_through = through; } - void update_accel() { - if (accel == AltosLib.MISSING) - return; - if (accel_plus_g == AltosLib.MISSING) - return; - if (accel_minus_g == AltosLib.MISSING) - return; + public double mag_along() { + return mag_along; + } - double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0; - double counts_per_mss = counts_per_g / 9.80665; - acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time); + public double mag_across() { + return mag_across; } - public void set_accel_g(double accel_plus_g, double accel_minus_g) { - if (accel_plus_g != AltosLib.MISSING) { - this.accel_plus_g = accel_plus_g; - this.accel_minus_g = accel_minus_g; - update_accel(); - } + public double mag_through() { + return mag_through; } - public void set_ground_accel(double ground_accel) { - if (ground_accel != AltosLib.MISSING) - this.ground_accel = ground_accel; + public void set_companion(AltosCompanion companion) { + this.companion = companion; } - public void set_accel(double accel) { - if (accel != AltosLib.MISSING) { - this.accel = accel; - if (state == AltosLib.ao_flight_pad) { - if (ground_accel_avg == AltosLib.MISSING) - ground_accel_avg = accel; - else - ground_accel_avg = (ground_accel_avg * 7 + accel) / 8; - } + public void set_acceleration(double acceleration) { + if (acceleration != AltosLib.MISSING) { + this.acceleration.set_measured(acceleration, time); + set |= set_data; } - update_accel(); } public void set_temperature(double temperature) { @@ -1199,53 +1044,20 @@ public class AltosState implements Cloneable { } } - public void set_ignitor_voltage(double[] voltage) { - this.ignitor_voltage = voltage; + public void set_igniter_voltage(double[] voltage) { + this.igniter_voltage = voltage; } public void set_pyro_fired(int fired) { this.pyro_fired = fired; } - public double time_since_boost() { - if (tick == AltosLib.MISSING) - return 0.0; - - if (boost_tick == AltosLib.MISSING) - return tick / 100.0; - return (tick - boost_tick) / 100.0; - } - - public boolean valid() { - return tick != AltosLib.MISSING && serial != AltosLib.MISSING; - } - - public AltosGPS make_temp_gps(boolean sats) { - if (temp_gps == null) { - temp_gps = new AltosGPS(gps); - } - gps_pending = true; - if (sats) { - if (tick != temp_gps_sat_tick) - temp_gps.cc_gps_sat = null; - temp_gps_sat_tick = tick; - } - return temp_gps; - } - - public void set_temp_gps() { - set_gps(temp_gps, gps_sequence + 1); - gps_pending = false; - temp_gps = null; - } - - public AltosState clone() { - AltosState s = new AltosState(); - s.copy(this); - return s; + public AltosState() { + init(); } - public AltosState () { + public AltosState (AltosCalData cal_data) { + super(cal_data); init(); } }