X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosState.java;h=a01cddb774d1a5a567d10869a80ee669fe783938;hp=726c3041f4587edc5c3533a701e3d0a242f2f57d;hb=71666409624bf544e8a55fa5ee91d2f8514a03ca;hpb=cfd8e4ebb3cb63937a71537095adb911d6211817 diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index 726c3041..a01cddb7 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -19,10 +19,9 @@ * Track flight state from telemetry or eeprom data stream */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; public class AltosState implements Cloneable { - public AltosRecord record; public static final int set_position = 1; public static final int set_gps = 2; @@ -30,8 +29,8 @@ 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 ascent_filter_len = 0.5; + static final double descent_filter_len = 0.5; /* derived data */ @@ -50,12 +49,11 @@ public class AltosState implements Cloneable { private double max_value; private double set_time; private double prev_set_time; - private double max_rate = 1000.0; 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 (max_value == AltosLib.MISSING || value > max_value) { max_value = value; } set_time = time; @@ -63,7 +61,7 @@ public class AltosState implements Cloneable { } void set_filtered(double new_value, double time) { - if (prev_value != AltosRecord.MISSING) + if (prev_value != AltosLib.MISSING) new_value = (prev_value * 15.0 + new_value) / 16.0; set(new_value, time); } @@ -81,25 +79,25 @@ 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); } @@ -111,13 +109,13 @@ 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; } @@ -126,12 +124,14 @@ public class AltosState implements Cloneable { 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; @@ -150,8 +150,12 @@ public class AltosState implements Cloneable { void set_integral(AltosValue in) { double change = in.integrate(); - if (change != AltosRecord.MISSING) - set(prev_value + change, in.time()); + if (change != AltosLib.MISSING) { + double prev = prev_value; + if (prev == AltosLib.MISSING) + prev = 0; + set(prev + change, in.time()); + } } void copy(AltosValue old) { @@ -162,10 +166,15 @@ 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; } } @@ -175,45 +184,45 @@ public class AltosState implements Cloneable { 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; } @@ -247,6 +256,11 @@ public class AltosState implements Cloneable { computed.copy(old.computed); } + void finish_update() { + measured.finish_update(); + computed.finish_update(); + } + AltosCValue() { measured = new AltosValue(); computed = new AltosValue(); @@ -256,6 +270,7 @@ public class AltosState implements Cloneable { 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 */ @@ -269,8 +284,8 @@ public class AltosState implements Cloneable { 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); } @@ -287,7 +302,8 @@ public class AltosState implements Cloneable { 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) { @@ -330,18 +346,18 @@ public class AltosState implements Cloneable { 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 AltosLib.MISSING; } public double max_altitude() { double a = altitude.max(); - if (a != AltosRecord.MISSING) + if (a != AltosLib.MISSING) return a; - return AltosRecord.MISSING; + return AltosLib.MISSING; } public void set_altitude(double new_altitude) { @@ -370,26 +386,26 @@ public class AltosState implements Cloneable { public double height() { double k = kalman_height.value(); - if (k != AltosRecord.MISSING) + if (k != AltosLib.MISSING) return k; 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 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 AltosRecord.MISSING; + return AltosLib.MISSING; } class AltosSpeed extends AltosCValue { @@ -417,10 +433,16 @@ public class AltosState implements Cloneable { private AltosSpeed speed; public double speed() { + double v = kalman_speed.value(); + if (v != AltosLib.MISSING) + return v; return speed.value(); } public double max_speed() { + double v = kalman_speed.max(); + if (v != AltosLib.MISSING) + return v; return speed.max(); } @@ -460,7 +482,7 @@ public class AltosState implements Cloneable { public AltosGPS gps; public AltosGPS temp_gps; - public boolean temp_gps_clear_sats_pending; + public int temp_gps_sat_tick; public boolean gps_pending; public int gps_sequence; @@ -499,7 +521,7 @@ public class AltosState implements Cloneable { public AltosMs5607 baro; - public AltosRecordCompanion companion; + public AltosCompanion companion; public void set_npad(int npad) { this.npad = npad; @@ -510,29 +532,27 @@ public class AltosState implements Cloneable { } public void init() { - record = null; - 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; + 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 = AltosRecord.MISSING; + flight = AltosLib.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; + 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(); @@ -541,11 +561,11 @@ public class AltosState implements Cloneable { speed = new AltosSpeed(); acceleration = new AltosAccel(); - temperature = AltosRecord.MISSING; - battery_voltage = AltosRecord.MISSING; - pyro_voltage = AltosRecord.MISSING; - apogee_voltage = AltosRecord.MISSING; - main_voltage = AltosRecord.MISSING; + temperature = AltosLib.MISSING; + battery_voltage = AltosLib.MISSING; + pyro_voltage = AltosLib.MISSING; + apogee_voltage = AltosLib.MISSING; + main_voltage = AltosLib.MISSING; ignitor_voltage = null; kalman_height = new AltosValue(); @@ -554,7 +574,7 @@ public class AltosState implements Cloneable { gps = null; temp_gps = null; - temp_gps_clear_sats_pending = false; + temp_gps_sat_tick = 0; gps_sequence = 0; gps_pending = false; @@ -565,36 +585,49 @@ public class AltosState implements Cloneable { ngps = 0; from_pad = null; - elevation = AltosRecord.MISSING; - range = AltosRecord.MISSING; - gps_height = AltosRecord.MISSING; + elevation = AltosLib.MISSING; + range = AltosLib.MISSING; + gps_height = AltosLib.MISSING; - pad_lat = AltosRecord.MISSING; - pad_lon = AltosRecord.MISSING; - pad_alt = AltosRecord.MISSING; + pad_lat = AltosLib.MISSING; + pad_lon = AltosLib.MISSING; + pad_alt = AltosLib.MISSING; - speak_tick = AltosRecord.MISSING; - speak_altitude = AltosRecord.MISSING; + speak_tick = AltosLib.MISSING; + speak_altitude = AltosLib.MISSING; callsign = null; - accel_plus_g = AltosRecord.MISSING; - accel_minus_g = AltosRecord.MISSING; - accel = AltosRecord.MISSING; + accel_plus_g = AltosLib.MISSING; + accel_minus_g = AltosLib.MISSING; + accel = AltosLib.MISSING; - ground_accel = AltosRecord.MISSING; - ground_accel_avg = AltosRecord.MISSING; + ground_accel = AltosLib.MISSING; + ground_accel_avg = AltosLib.MISSING; - log_format = AltosRecord.MISSING; - serial = AltosRecord.MISSING; + log_format = AltosLib.MISSING; + serial = AltosLib.MISSING; + receiver_serial = AltosLib.MISSING; baro = null; companion = null; } - void copy(AltosState old) { + void finish_update() { + prev_tick = tick; + + ground_altitude.finish_update(); + altitude.finish_update(); + pressure.finish_update(); + speed.finish_update(); + acceleration.finish_update(); - record = null; + kalman_height.finish_update(); + kalman_speed.finish_update(); + kalman_acceleration.finish_update(); + } + + void copy(AltosState old) { if (old == null) { init(); @@ -603,7 +636,9 @@ public class AltosState implements Cloneable { received_time = old.received_time; time = old.time; - time_change = 0; + time_change = old.time_change; + prev_time = old.time; + tick = old.tick; prev_tick = old.tick; boost_tick = old.boost_tick; @@ -624,6 +659,7 @@ public class AltosState implements Cloneable { set = 0; + ground_pressure.copy(old.ground_pressure); ground_altitude.copy(old.ground_altitude); altitude.copy(old.altitude); pressure.copy(old.pressure); @@ -649,7 +685,7 @@ public class AltosState implements Cloneable { temp_gps = old.temp_gps.clone(); else temp_gps = null; - temp_gps_clear_sats_pending = old.temp_gps_clear_sats_pending; + temp_gps_sat_tick = old.temp_gps_sat_tick; gps_sequence = old.gps_sequence; gps_pending = old.gps_pending; @@ -694,6 +730,7 @@ public class AltosState implements Cloneable { log_format = old.log_format; serial = old.serial; + receiver_serial = old.receiver_serial; baro = old.baro; companion = old.companion; @@ -714,25 +751,25 @@ public class AltosState implements Cloneable { /* Track consecutive 'good' gps reports, waiting for 10 of them */ if (state == AltosLib.ao_flight_pad) { set_npad(npad+1); - if (pad_lat != AltosRecord.MISSING) { + if (pad_lat != AltosLib.MISSING) { pad_lat = (pad_lat * 31 + gps.lat) / 32; pad_lon = (pad_lon * 31 + gps.lon) / 32; pad_alt = (pad_alt * 31 + gps.alt) / 32; } } - if (pad_lat == AltosRecord.MISSING) { + if (pad_lat == AltosLib.MISSING) { pad_lat = gps.lat; pad_lon = gps.lon; pad_alt = gps.alt; } } 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; @@ -742,19 +779,20 @@ public class AltosState implements Cloneable { } public void set_tick(int new_tick) { - if (new_tick != AltosRecord.MISSING) { - if (prev_tick != AltosRecord.MISSING) { - while (new_tick < prev_tick - 32767) { + 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 void set_boost_tick(int boost_tick) { - if (boost_tick != AltosRecord.MISSING) + if (boost_tick != AltosLib.MISSING) this.boost_tick = boost_tick; } @@ -795,8 +833,8 @@ public class AltosState implements Cloneable { public void set_flight(int flight) { /* When the flight changes, reset the state */ - if (flight != AltosRecord.MISSING) { - if (this.flight != AltosRecord.MISSING && + if (flight != AltosLib.MISSING && flight != 0) { + if (this.flight != AltosLib.MISSING && this.flight != flight) { init(); } @@ -806,8 +844,8 @@ public class AltosState implements Cloneable { public void set_serial(int serial) { /* When the serial changes, reset the state */ - if (serial != AltosRecord.MISSING) { - if (this.serial != AltosRecord.MISSING && + if (serial != AltosLib.MISSING) { + if (this.serial != AltosLib.MISSING && this.serial != serial) { init(); } @@ -815,14 +853,19 @@ public class AltosState implements Cloneable { } } + public void set_receiver_serial(int serial) { + if (serial != AltosLib.MISSING) + receiver_serial = serial; + } + public int rssi() { - if (rssi == AltosRecord.MISSING) + if (rssi == AltosLib.MISSING) return 0; return rssi; } public void set_rssi(int rssi, int status) { - if (rssi != AltosRecord.MISSING) { + if (rssi != AltosLib.MISSING) { this.rssi = rssi; this.status = status; } @@ -841,9 +884,29 @@ public class AltosState implements Cloneable { } } - public void make_baro() { + public void set_imu(AltosIMU imu) { + if (imu != null) + imu = imu.clone(); + this.imu = imu; + } + + public void set_mag(AltosMag mag) { + this.mag = mag.clone(); + } + + public AltosMs5607 make_baro() { if (baro == null) baro = new AltosMs5607(); + return baro; + } + + public void set_ms5607(AltosMs5607 ms5607) { + baro = ms5607; + + if (baro != null) { + set_pressure(baro.pa); + set_temperature(baro.cc / 100.0); + } } public void set_ms5607(int pres, int temp) { @@ -857,34 +920,34 @@ public class AltosState implements Cloneable { public void make_companion (int nchannels) { if (companion == null) - companion = new AltosRecordCompanion(nchannels); + companion = new AltosCompanion(nchannels); } - public void set_companion(AltosRecordCompanion companion) { + public void set_companion(AltosCompanion companion) { this.companion = companion; } void update_accel() { double ground = ground_accel; - if (ground == AltosRecord.MISSING) + if (ground == AltosLib.MISSING) ground = ground_accel_avg; - if (accel == AltosRecord.MISSING) + if (accel == AltosLib.MISSING) return; - if (ground == AltosRecord.MISSING) + if (ground == AltosLib.MISSING) return; - if (accel_plus_g == AltosRecord.MISSING) + if (accel_plus_g == AltosLib.MISSING) return; - if (accel_minus_g == AltosRecord.MISSING) + if (accel_minus_g == AltosLib.MISSING) return; 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); + acceleration.set_measured((ground - accel) / counts_per_mss, time); } public void set_accel_g(double accel_plus_g, double accel_minus_g) { - if (accel_plus_g != AltosRecord.MISSING) { + if (accel_plus_g != AltosLib.MISSING) { this.accel_plus_g = accel_plus_g; this.accel_minus_g = accel_minus_g; update_accel(); @@ -892,17 +955,17 @@ public class AltosState implements Cloneable { } public void set_ground_accel(double ground_accel) { - if (ground_accel != AltosRecord.MISSING) { + if (ground_accel != AltosLib.MISSING) { this.ground_accel = ground_accel; update_accel(); } } public void set_accel(double accel) { - if (accel != AltosRecord.MISSING) { + if (accel != AltosLib.MISSING) { this.accel = accel; if (state == AltosLib.ao_flight_pad) { - if (ground_accel_avg == AltosRecord.MISSING) + if (ground_accel_avg == AltosLib.MISSING) ground_accel_avg = accel; else ground_accel_avg = (ground_accel_avg * 7 + accel) / 8; @@ -912,35 +975,35 @@ public class AltosState implements Cloneable { } 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; } @@ -951,17 +1014,17 @@ public class AltosState implements Cloneable { } public double time_since_boost() { - if (tick == AltosRecord.MISSING) + if (tick == AltosLib.MISSING) return 0.0; - if (boost_tick != AltosRecord.MISSING) { + if (boost_tick != AltosLib.MISSING) { return (tick - boost_tick) / 100.0; } return tick / 100.0; } public boolean valid() { - return tick != AltosRecord.MISSING && serial != AltosRecord.MISSING; + return tick != AltosLib.MISSING && serial != AltosLib.MISSING; } public AltosGPS make_temp_gps(boolean sats) { @@ -969,11 +1032,10 @@ public class AltosState implements Cloneable { 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; + if (sats) { + if (tick != temp_gps_sat_tick) + temp_gps.cc_gps_sat = null; + temp_gps_sat_tick = tick; } return temp_gps; } @@ -990,56 +1052,6 @@ public class AltosState implements Cloneable { 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(); }