X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosState.java;h=7a64f8a188182704c5aa6fbd01e17fb627eef5e5;hp=e874a498b0ed066aa02387afcab22fd54fe88b92;hb=e64b1bc108bd75bcd6271631e48abde84af4631f;hpb=4de934c283a839fcbb246b36aa15362f3cf8629c

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index e874a498..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
@@ -19,10 +20,9 @@
  * Track flight state from telemetry or eeprom data stream
  */
 
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_13;
 
-public class AltosState implements Cloneable {
-	public AltosRecord record;
+public class AltosState extends AltosDataListener {
 
 	public static final int set_position = 1;
 	public static final int set_gps = 2;
@@ -30,41 +30,40 @@ public class AltosState implements Cloneable {
 
 	public int set;
 
-	static final double ascent_filter_len = 0.1;
-	static final double descent_filter_len = 2.0;
+	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	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;
-		private double	max_rate = 1000.0;
+
+		boolean can_max() { return true; }
 
 		void set(double new_value, double time) {
-			if (new_value != AltosRecord.MISSING) {
+			if (new_value != AltosLib.MISSING) {
 				value = new_value;
-				if (max_value == AltosRecord.MISSING || value > max_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 != AltosRecord.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);
 		}
 
@@ -81,25 +80,25 @@ public class AltosState implements Cloneable {
 		}
 
 		double change() {
-			if (value != AltosRecord.MISSING && prev_value != AltosRecord.MISSING)
+			if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
 				return value - prev_value;
-			return AltosRecord.MISSING;
+			return AltosLib.MISSING;
 		}
 
 		double rate() {
 			double c = change();
 			double t = set_time - prev_set_time;
 
-			if (c != AltosRecord.MISSING && t != 0)
+			if (c != AltosLib.MISSING && t != 0)
 				return c / t;
-			return AltosRecord.MISSING;
+			return AltosLib.MISSING;
 		}
 
 		double integrate() {
-			if (value == AltosRecord.MISSING)
-				return AltosRecord.MISSING;
-			if (prev_value == AltosRecord.MISSING)
-				return AltosRecord.MISSING;
+			if (value == AltosLib.MISSING)
+				return AltosLib.MISSING;
+			if (prev_value == AltosLib.MISSING)
+				return AltosLib.MISSING;
 
 			return (value + prev_value) / 2 * (set_time - prev_set_time);
 		}
@@ -110,14 +109,14 @@ public class AltosState implements Cloneable {
 
 		void set_derivative(AltosValue in) {
 			double	n = in.rate();
-			
-			if (n == AltosRecord.MISSING)
+
+			if (n == AltosLib.MISSING)
 				return;
 
 			double	p = prev_value;
 			double	pt = prev_set_time;
 
-			if (p == AltosRecord.MISSING) {
+			if (p == AltosLib.MISSING) {
 				p = 0;
 				pt = in.time() - 0.01;
 			}
@@ -125,13 +124,15 @@ public class AltosState implements Cloneable {
 			/* Clip changes to reduce noise */
 			double	ddt = in.time() - pt;
 			double	ddv = (n - p) / ddt;
-				
+
+			final double max = 100000;
+
 			/* 100gs */
-			if (Math.abs(ddv) > 1000) {
+			if (Math.abs(ddv) > max) {
 				if (n > p)
-					n = p + ddt * 1000;
+					n = p + ddt * max;
 				else
-					n = p - ddt * 1000;
+					n = p - ddt * max;
 			}
 
 			double filter_len;
@@ -150,9 +151,9 @@ public class AltosState implements Cloneable {
 		void set_integral(AltosValue in) {
 			double	change = in.integrate();
 
-			if (change != AltosRecord.MISSING) {
+			if (change != AltosLib.MISSING) {
 				double	prev = prev_value;
-				if (prev == AltosRecord.MISSING)
+				if (prev == AltosLib.MISSING)
 					prev = 0;
 				set(prev + change, in.time());
 			}
@@ -166,58 +167,79 @@ public class AltosState implements Cloneable {
 			max_value = old.max_value;
 		}
 
+		void finish_update() {
+			prev_value = value;
+			prev_set_time = set_time;
+		}
+
 		AltosValue() {
-			value = AltosRecord.MISSING;
-			prev_value = AltosRecord.MISSING;
-			max_value = AltosRecord.MISSING;
+			value = AltosLib.MISSING;
+			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();
-			if (v != AltosRecord.MISSING)
+			if (v != AltosLib.MISSING)
 				return v;
 			return computed.value();
 		}
 
 		boolean is_measured() {
-			return measured.value() != AltosRecord.MISSING;
+			return measured.value() != AltosLib.MISSING;
 		}
 
 		double max() {
 			double m = measured.max();
 
-			if (m != AltosRecord.MISSING)
+			if (m != AltosLib.MISSING)
 				return m;
 			return computed.max();
 		}
 
 		double prev_value() {
-			if (measured.value != AltosRecord.MISSING && measured.prev_value != AltosRecord.MISSING)
+			if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
 				return measured.prev_value;
 			return computed.prev_value;
 		}
 
 		AltosValue altos_value() {
-			if (measured.value() != AltosRecord.MISSING)
+			if (measured.value() != AltosLib.MISSING)
 				return measured;
 			return computed;
 		}
 
 		double change() {
 			double c = measured.change();
-			if (c == AltosRecord.MISSING)
+			if (c == AltosLib.MISSING)
 				c = computed.change();
 			return c;
 		}
 
 		double rate() {
 			double r = measured.rate();
-			if (r == AltosRecord.MISSING)
+			if (r == AltosLib.MISSING)
 				r = computed.rate();
 			return r;
 		}
@@ -241,40 +263,34 @@ public class AltosState implements Cloneable {
 		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);
 		}
 
-		AltosCValue() {
-			measured = new AltosValue();
-			computed = new AltosValue();
+		void finish_update() {
+			measured.finish_update();
+			computed.finish_update();
+		}
+
+		public AltosCValue() {
+			measured = new AltosIValue();
+			computed = new AltosIValue();
 		}
 	}
 
-	public int	state;
-	public int	flight;
-	public int	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 == AltosRecord.MISSING)
-			return AltosRecord.MISSING;
+		if (p == AltosLib.MISSING)
+			return AltosLib.MISSING;
 		return AltosConvert.pressure_to_altitude(p);
 	}
 
@@ -288,20 +304,53 @@ public class AltosState implements Cloneable {
 		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);
-			ground_altitude.set_computed(pressure_to_altitude(computed.value()), 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();
 	}
@@ -328,38 +377,118 @@ public class AltosState implements Cloneable {
 			set_speed(measured);
 			set |= set_position;
 		}
+
+		AltosAltitude() {
+			super();
+		}
 	}
 
 	private AltosAltitude	altitude;
 
+	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 != AltosRecord.MISSING)
+		if (a != AltosLib.MISSING)
 			return a;
-		if (gps != null)
-			return gps.alt;
-		return AltosRecord.MISSING;
+		return gps_altitude.value();
 	}
 
 	public double max_altitude() {
 		double a = altitude.max();
-		if (a != AltosRecord.MISSING)
+		if (a != AltosLib.MISSING)
 			return a;
-		return AltosRecord.MISSING;
+		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)
+			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;
@@ -372,32 +501,65 @@ public class AltosState implements Cloneable {
 		pressure.set(p, time);
 	}
 
-	public double height() {
-		double k = kalman_height.value();
-		if (k != AltosRecord.MISSING)
-			return k;
+	public void set_thrust(double N) {
+	}
 
+	public double baro_height() {
 		double a = altitude();
 		double g = ground_altitude();
-		if (a != AltosRecord.MISSING && g != AltosRecord.MISSING)
+		if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 			return a - g;
-		return AltosRecord.MISSING;
+		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 != AltosRecord.MISSING)
+		if (k != AltosLib.MISSING)
 			return k;
 
 		double a = altitude.max();
 		double g = ground_altitude();
-		if (a != AltosRecord.MISSING && g != AltosRecord.MISSING)
+		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 AltosRecord.MISSING;
+		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);
 		}
@@ -416,24 +578,55 @@ public class AltosState implements Cloneable {
 			super.set_measured(new_value, time);
 			set_accel();
 		}
+
+		AltosSpeed() {
+			super();
+		}
 	}
 
 	private AltosSpeed speed;
 
 	public double speed() {
-		return speed.value();
+		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() {
-		return speed.max();
+		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;
@@ -446,9 +639,28 @@ public class AltosState implements Cloneable {
 		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);
@@ -460,16 +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 boolean	temp_gps_clear_sats_pending;
 	public boolean	gps_pending;
-	public int gps_sequence;
-
-	public AltosIMU	imu;
-	public AltosMag	mag;
 
 	public static final int MIN_PAD_SAMPLES = 10;
 
@@ -481,6 +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;
@@ -490,20 +697,11 @@ 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 AltosCompanion	companion;
 
-	public AltosMs5607	baro;
-
-	public AltosRecordCompanion	companion;
+	public int	pyro_fired;
 
 	public void set_npad(int npad) {
 		this.npad = npad;
@@ -514,29 +712,15 @@ public class AltosState implements Cloneable {
 	}
 
 	public void init() {
-		record = null;
+		super.init();
 
 		set = 0;
 
 		received_time = System.currentTimeMillis();
-		time = AltosRecord.MISSING;
-		time_change = AltosRecord.MISSING;
-		prev_time = AltosRecord.MISSING;
-		tick = AltosRecord.MISSING;
-		prev_tick = AltosRecord.MISSING;
-		boost_tick = AltosRecord.MISSING;
-		state = AltosLib.ao_flight_invalid;
-		flight = AltosRecord.MISSING;
 		landed = false;
 		boost = false;
-		rssi = AltosRecord.MISSING;
+		rssi = AltosLib.MISSING;
 		status = 0;
-		device_type = AltosRecord.MISSING;
-		config_major = AltosRecord.MISSING;
-		config_minor = AltosRecord.MISSING;
-		apogee_delay = AltosRecord.MISSING;
-		main_deploy = AltosRecord.MISSING;
-		flight_log_max = AltosRecord.MISSING;
 
 		ground_altitude = new AltosCValue();
 		ground_pressure = new AltosGroundPressure();
@@ -544,507 +728,336 @@ public class AltosState implements Cloneable {
 		pressure = new AltosPressure();
 		speed = new AltosSpeed();
 		acceleration = new AltosAccel();
+		orient = new AltosCValue();
 
-		temperature = AltosRecord.MISSING;
-		battery_voltage = AltosRecord.MISSING;
-		pyro_voltage = AltosRecord.MISSING;
-		apogee_voltage = AltosRecord.MISSING;
-		main_voltage = AltosRecord.MISSING;
-		ignitor_voltage = null;
+		temperature = AltosLib.MISSING;
+		battery_voltage = AltosLib.MISSING;
+		pyro_voltage = AltosLib.MISSING;
+		apogee_voltage = AltosLib.MISSING;
+		main_voltage = AltosLib.MISSING;
+		igniter_voltage = null;
 
 		kalman_height = new AltosValue();
 		kalman_speed = new AltosValue();
 		kalman_acceleration = new AltosValue();
 
 		gps = null;
-		temp_gps = null;
-		temp_gps_clear_sats_pending = false;
-		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 = AltosRecord.MISSING;
-		range = AltosRecord.MISSING;
-		gps_height = AltosRecord.MISSING;
-
-		pad_lat = AltosRecord.MISSING;
-		pad_lon = AltosRecord.MISSING;
-		pad_alt = AltosRecord.MISSING;
-
-		speak_tick = AltosRecord.MISSING;
-		speak_altitude = AltosRecord.MISSING;
+		elevation = AltosLib.MISSING;
+		distance = AltosLib.MISSING;
+		range = AltosLib.MISSING;
+		gps_height = AltosLib.MISSING;
 
-		callsign = null;
+		pad_lat = AltosLib.MISSING;
+		pad_lon = AltosLib.MISSING;
+		pad_alt = AltosLib.MISSING;
 
-		accel_plus_g = AltosRecord.MISSING;
-		accel_minus_g = AltosRecord.MISSING;
-		accel = AltosRecord.MISSING;
+		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();
 
-		ground_accel = AltosRecord.MISSING;
-		ground_accel_avg = AltosRecord.MISSING;
+		speak_tick = AltosLib.MISSING;
+		speak_altitude = AltosLib.MISSING;
 
-		log_format = AltosRecord.MISSING;
-		serial = AltosRecord.MISSING;
+		ground_accel = AltosLib.MISSING;
 
-		baro = null;
 		companion = null;
-	}
-
-	void copy(AltosState old) {
 
-		record = null;
+		pyro_fired = 0;
+	}
 
-		if (old == null) {
-			init();
-			return;
-		}
+	void finish_update() {
+		ground_altitude.finish_update();
+		altitude.finish_update();
+		pressure.finish_update();
+		speed.finish_update();
+		acceleration.finish_update();
+		orient.finish_update();
 
-		received_time = old.received_time;
-		time = old.time;
-		time_change = 0;
-		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;
+		kalman_height.finish_update();
+		kalman_speed.finish_update();
+		kalman_acceleration.finish_update();
+	}
 
-		ground_altitude.copy(old.ground_altitude);
-		altitude.copy(old.altitude);
-		pressure.copy(old.pressure);
-		speed.copy(old.speed);
-		acceleration.copy(old.acceleration);
-
-		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_clear_sats_pending = old.temp_gps_clear_sats_pending;
-		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;
-		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;
-
-		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;
-		serial = old.serial;
-
-		baro = old.baro;
-		companion = old.companion;
-	}
-	
 	void update_time() {
 	}
 
 	void update_gps() {
-		elevation = 0;
-		range = -1;
-		gps_height = 0;
+		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) {
+			if (state() == AltosLib.ao_flight_pad || state() == AltosLib.ao_flight_stateless) {
 				set_npad(npad+1);
-				if (pad_lat != AltosRecord.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;
-					pad_alt = (pad_alt * 31 + gps.alt) / 32;
+					gps_ground_altitude.set_filtered(gps.alt, time);
 				}
 			}
-			if (pad_lat == AltosRecord.MISSING) {
+			if (pad_lat == AltosLib.MISSING) {
 				pad_lat = gps.lat;
 				pad_lon = gps.lon;
-				pad_alt = gps.alt;
+				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 != AltosRecord.MISSING &&
-		    pad_lon != AltosRecord.MISSING)
+		    pad_lat != AltosLib.MISSING &&
+		    pad_lon != AltosLib.MISSING)
 		{
 			double h = height();
 
-			if (h == AltosRecord.MISSING)
+			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_height = gps.alt - pad_alt;
 		}
 	}
 
-	public void set_tick(int new_tick) {
-		if (new_tick != AltosRecord.MISSING) {
-			if (prev_tick != AltosRecord.MISSING) {
-				while (new_tick < prev_tick - 32767) {
-					new_tick += 65536;
-				}
-			}
-			tick = new_tick;
-			time = tick / 100.0;
-		}
+	public String state_name() {
+		return AltosLib.state_name(state());
 	}
 
-	public void set_boost_tick(int boost_tick) {
-		if (boost_tick != AltosRecord.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;
+	public void set_received_time(long ms) {
+		received_time = ms;
 	}
 
-	public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
-		config_major = major;
-		config_minor = minor;
-		this.apogee_delay = apogee_delay;
-		this.main_deploy = main_deploy;
-		this.flight_log_max = flight_log_max;
+	public void set_gps(AltosGPS gps) {
+		super.set_gps(gps);
+		if (gps != null) {
+			this.gps = gps;
+			update_gps();
+			set |= set_gps;
+		}
 	}
 
-	public void set_callsign(String callsign) {
-		this.callsign = callsign;
+	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_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 != AltosRecord.MISSING) {
-			if (this.flight != AltosRecord.MISSING &&
-			    this.flight != flight) {
-				init();
-			}
-			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 != AltosRecord.MISSING) {
-			if (this.serial != AltosRecord.MISSING &&
-			    this.serial != serial) {
-				init();
+			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 int rssi() {
-		if (rssi == AltosRecord.MISSING)
-			return 0;
-		return rssi;
-	}
+	private double	gyro_roll, gyro_pitch, gyro_yaw;
 
-	public void set_rssi(int rssi, int status) {
-		if (rssi != AltosRecord.MISSING) {
-			this.rssi = rssi;
-			this.status = status;
-		}
+	public void set_gyro(double roll, double pitch, double yaw) {
+		gyro_roll = roll;
+		gyro_pitch = pitch;
+		gyro_yaw = yaw;
+		update_orient();
 	}
 
-	public void set_received_time(long ms) {
-		received_time = ms;
+	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 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 make_baro() {
-		if (baro == null)
-			baro = new AltosMs5607();
+	public double accel_across() {
+		return accel_across;
 	}
 
-	public void set_ms5607(int pres, int temp) {
-		if (baro != null) {
-			baro.set(pres, temp);
+	public double accel_through() {
+		return accel_through;
+	}
 
-			set_pressure(baro.pa);
-			set_temperature(baro.cc / 100.0);
-		}
+	public double gyro_roll() {
+		return gyro_roll;
 	}
 
-	public void make_companion (int nchannels) {
-		if (companion == null)
-			companion = new AltosRecordCompanion(nchannels);
+	public double gyro_pitch() {
+		return gyro_pitch;
 	}
 
-	public void set_companion(AltosRecordCompanion companion) {
-		this.companion = companion;
+	public double gyro_yaw() {
+		return gyro_yaw;
 	}
 
-	void update_accel() {
-		double	ground = ground_accel;
+	private double mag_along, mag_across, mag_through;
 
-		if (ground == AltosRecord.MISSING)
-			ground = ground_accel_avg;
-		if (accel == AltosRecord.MISSING)
-			return;
-		if (ground == AltosRecord.MISSING)
-			return;
-		if (accel_plus_g == AltosRecord.MISSING)
-			return;
-		if (accel_minus_g == AltosRecord.MISSING)
-			return;
+	public void set_mag(double along, double across, double through) {
+		mag_along = along;
+		mag_across = across;
+		mag_through = through;
+	}
 
-		double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
-		double counts_per_mss = counts_per_g / 9.80665;
-		acceleration.set_computed((ground - accel) / counts_per_mss, time);
+	public double mag_along() {
+		return mag_along;
 	}
 
-	public void set_accel_g(double accel_plus_g, double accel_minus_g) {
-		if (accel_plus_g != AltosRecord.MISSING) {
-			this.accel_plus_g = accel_plus_g;
-			this.accel_minus_g = accel_minus_g;
-			update_accel();
-		}
+	public double mag_across() {
+		return mag_across;
 	}
 
-	public void set_ground_accel(double ground_accel) {
-		if (ground_accel != AltosRecord.MISSING) {
-			this.ground_accel = ground_accel;
-			update_accel();
-		}
+	public double mag_through() {
+		return mag_through;
 	}
 
-	public void set_accel(double accel) {
-		if (accel != AltosRecord.MISSING) {
-			this.accel = accel;
-			if (state == AltosLib.ao_flight_pad) {
-				if (ground_accel_avg == AltosRecord.MISSING)
-					ground_accel_avg = accel;
-				else
-					ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
-			}
+	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;
 		}
-		update_accel();
 	}
 
 	public void set_temperature(double temperature) {
-		if (temperature != AltosRecord.MISSING) {
+		if (temperature != AltosLib.MISSING) {
 			this.temperature = temperature;
 			set |= set_data;
 		}
 	}
 
 	public void set_battery_voltage(double battery_voltage) {
-		if (battery_voltage != AltosRecord.MISSING) {
+		if (battery_voltage != AltosLib.MISSING) {
 			this.battery_voltage = battery_voltage;
 			set |= set_data;
 		}
 	}
 
 	public void set_pyro_voltage(double pyro_voltage) {
-		if (pyro_voltage != AltosRecord.MISSING) {
+		if (pyro_voltage != AltosLib.MISSING) {
 			this.pyro_voltage = pyro_voltage;
 			set |= set_data;
 		}
 	}
 
 	public void set_apogee_voltage(double apogee_voltage) {
-		if (apogee_voltage != AltosRecord.MISSING) {
+		if (apogee_voltage != AltosLib.MISSING) {
 			this.apogee_voltage = apogee_voltage;
 			set |= set_data;
 		}
 	}
 
 	public void set_main_voltage(double main_voltage) {
-		if (main_voltage != AltosRecord.MISSING) {
+		if (main_voltage != AltosLib.MISSING) {
 			this.main_voltage = main_voltage;
 			set |= set_data;
 		}
 	}
 
-	public void set_ignitor_voltage(double[] voltage) {
-		this.ignitor_voltage = voltage;
+	public void set_igniter_voltage(double[] voltage) {
+		this.igniter_voltage = voltage;
 	}
 
-	public double time_since_boost() {
-		if (tick == AltosRecord.MISSING)
-			return 0.0;
-
-		if (boost_tick != AltosRecord.MISSING) {
-			return (tick - boost_tick) / 100.0;
-		}
-		return tick / 100.0;
-	}
-
-	public boolean valid() {
-		return tick != AltosRecord.MISSING && serial != AltosRecord.MISSING;
+	public void set_pyro_fired(int fired) {
+		this.pyro_fired = fired;
 	}
 
-	public AltosGPS make_temp_gps(boolean sats) {
-		if (temp_gps == null) {
-			temp_gps = new AltosGPS(gps);
-		}
-		gps_pending = true;
-		if (!sats)
-			temp_gps_clear_sats_pending = true;
-		else if (temp_gps_clear_sats_pending) {
-			temp_gps.cc_gps_sat = null;
-			temp_gps_clear_sats_pending = false;
-		}
-		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 void init (AltosRecord cur, AltosState prev_state) {
-
-		System.out.printf ("init\n");
-		if (cur == null)
-			cur = new AltosRecord();
-
-		record = cur;
-
-		/* Discard previous state if it was for a different board */
-		if (prev_state != null && prev_state.serial != cur.serial)
-			prev_state = null;
-
-		copy(prev_state);
-
-		set_ground_altitude(cur.ground_altitude());
-		set_altitude(cur.altitude());
-
-		set_kalman(cur.kalman_height, cur.kalman_speed, cur.kalman_acceleration);
-
-		received_time = System.currentTimeMillis();
-
-		set_temperature(cur.temperature());
-		set_apogee_voltage(cur.drogue_voltage());
-		set_main_voltage(cur.main_voltage());
-		set_battery_voltage(cur.battery_voltage());
-
-		set_pressure(cur.pressure());
-
-		set_tick(cur.tick);
-		set_state(cur.state);
-
-		set_accel_g (cur.accel_minus_g, cur.accel_plus_g);
-		set_ground_accel(cur.ground_accel);
-		set_accel (cur.accel);
-
-		if (cur.gps_sequence != gps_sequence)
-			set_gps(cur.gps, cur.gps_sequence);
-
-	}
-
-	public AltosState(AltosRecord cur) {
-		init(cur, null);
-	}
-
-	public AltosState (AltosRecord cur, AltosState prev) {
-		init(cur, prev);
+	public AltosState() {
+		init();
 	}
 
-
-	public AltosState () {
+	public AltosState (AltosCalData cal_data) {
+		super(cal_data);
 		init();
 	}
 }