X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosState.java;h=a01cddb774d1a5a567d10869a80ee669fe783938;hp=daf06c19f4c29225c2bbcd676596af06a831a124;hb=71666409624bf544e8a55fa5ee91d2f8514a03ca;hpb=de8d9c5630ae46378c50faf97f7d2e97fe139e30

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index daf06c19..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;
@@ -30,50 +29,460 @@ public class AltosState implements Cloneable {
 
 	public int set;
 
+	static final double ascent_filter_len = 0.5;
+	static final double descent_filter_len = 0.5;
+
 	/* derived data */
 
-	public long  	report_time;
+	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;
 
+	class AltosValue {
+		private double	value;
+		private double	prev_value;
+		private double	max_value;
+		private double	set_time;
+		private double	prev_set_time;
+
+		void set(double new_value, double time) {
+			if (new_value != AltosLib.MISSING) {
+				value = new_value;
+				if (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)
+				new_value = (prev_value * 15.0 + new_value) / 16.0;
+			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;
+
+			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 {
+		AltosValue	measured;
+		AltosValue	computed;
+
+		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();
+		}
+
+		AltosCValue() {
+			measured = new AltosValue();
+			computed = new AltosValue();
+		}
+	}
+
 	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)
+			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 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);
+		}
+	}
+
+	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;
+		}
+	}
+
+	private AltosAltitude	altitude;
+
+	public double altitude() {
+		double a = altitude.value();
+		if (a != AltosLib.MISSING)
+			return a;
+		if (gps != null)
+			return gps.alt;
+		return AltosLib.MISSING;
+	}
+
+	public double max_altitude() {
+		double a = altitude.max();
+		if (a != AltosLib.MISSING)
+			return a;
+		return AltosLib.MISSING;
+	}
+
+	public void set_altitude(double new_altitude) {
+		altitude.set_measured(new_altitude, time);
+	}
+
+	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);
+		}
+	}
+
+	private AltosPressure	pressure;
+
+	public double pressure() {
+		return pressure.value();
+	}
+
+	public void set_pressure(double p) {
+		pressure.set(p, time);
+	}
+
+	public double height() {
+		double k = kalman_height.value();
+		if (k != AltosLib.MISSING)
+			return k;
+
+		double a = altitude();
+		double g = ground_altitude();
+		if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+			return a - g;
+		return AltosLib.MISSING;
+	}
+
+	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 AltosLib.MISSING;
+	}
+
+	class AltosSpeed extends AltosCValue {
+		
+		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();
+		}
+	}
+
+	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();
+	}
+
+	class AltosAccel extends AltosCValue {
+		void set_measured(double a, double time) {
+			super.set_measured(a, time);
+			if (ascent)
+				speed.set_integral(this.measured);
+		}
+	}
+
+	AltosAccel acceleration;
+
+	public double acceleration() {
+		return acceleration.value();
+	}
+
+	public double max_acceleration() {
+		return acceleration.max();
+	}
+
+	public AltosValue	kalman_height, kalman_speed, kalman_acceleration;
+
+	public void set_kalman(double height, double speed, double acceleration) {
+		kalman_height.set(height, time);
+		kalman_speed.set(speed, time);
+		kalman_acceleration.set(acceleration, time);
+	}
 
-	public double	ground_altitude;
-	public double	ground_pressure;
-	public double	altitude;
-	public double	height;
-	public double	pressure;
-	public double	acceleration;
 	public double	battery_voltage;
 	public double	pyro_voltage;
 	public double	temperature;
 	public double	apogee_voltage;
 	public double	main_voltage;
-	public double	speed;
-
-	public double	prev_height;
-	public double	prev_speed;
-	public double	prev_acceleration;
-
-	public double	max_height;
-	public double	max_acceleration;
-	public double	max_speed;
 
-	public double	kalman_height, kalman_speed, kalman_acceleration;
+	public double	ignitor_voltage[];
 
 	public AltosGPS	gps;
 	public AltosGPS	temp_gps;
+	public int temp_gps_sat_tick;
 	public boolean	gps_pending;
 	public int gps_sequence;
 
@@ -100,24 +509,19 @@ public class AltosState implements Cloneable {
 	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 AltosMs5607	baro;
 
-	public AltosRecordCompanion	companion;
-
-	public double speed() {
-		return speed;
-	}
-
-	public double max_speed() {
-		return max_speed;
-	}
+	public AltosCompanion	companion;
 
 	public void set_npad(int npad) {
 		this.npad = npad;
@@ -128,52 +532,49 @@ public class AltosState implements Cloneable {
 	}
 
 	public void init() {
-		record = null;
-
 		set = 0;
 
-		report_time = System.currentTimeMillis();
-		time = AltosRecord.MISSING;
-		time_change = AltosRecord.MISSING;
-		prev_time = AltosRecord.MISSING;
-		tick = AltosRecord.MISSING;
-		boost_tick = AltosRecord.MISSING;
+		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 = AltosRecord.MISSING;
+		flight = AltosLib.MISSING;
 		landed = false;
 		boost = false;
-		rssi = AltosRecord.MISSING;
+		rssi = AltosLib.MISSING;
 		status = 0;
-
-		ground_altitude = AltosRecord.MISSING;
-		ground_pressure = AltosRecord.MISSING;
-		altitude = AltosRecord.MISSING;
-		height = AltosRecord.MISSING;
-		pressure = AltosRecord.MISSING;
-		acceleration = AltosRecord.MISSING;
-		temperature = AltosRecord.MISSING;
-
-		prev_height = AltosRecord.MISSING;
-		prev_speed = AltosRecord.MISSING;
-		prev_acceleration = AltosRecord.MISSING;
-
-		battery_voltage = AltosRecord.MISSING;
-		pyro_voltage = AltosRecord.MISSING;
-		apogee_voltage = AltosRecord.MISSING;
-		main_voltage = AltosRecord.MISSING;
-
-		speed = AltosRecord.MISSING;
-
-		kalman_height = AltosRecord.MISSING;
-		kalman_speed = AltosRecord.MISSING;
-		kalman_acceleration = AltosRecord.MISSING;
-
-		max_speed = 0;
-		max_height = 0;
-		max_acceleration = 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();
+		altitude = new AltosAltitude();
+		pressure = new AltosPressure();
+		speed = new AltosSpeed();
+		acceleration = new AltosAccel();
+
+		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();
+		kalman_speed = new AltosValue();
+		kalman_acceleration = new AltosValue();
 
 		gps = null;
 		temp_gps = null;
+		temp_gps_sat_tick = 0;
 		gps_sequence = 0;
 		gps_pending = false;
 
@@ -184,43 +585,62 @@ 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;
-		ground_accel = AltosRecord.MISSING;
-		log_format = AltosRecord.MISSING;
-		serial = AltosRecord.MISSING;
+		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;
+		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();
 			return;
 		}
 
-		report_time = old.report_time;
+		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;
 
 		state = old.state;
@@ -230,33 +650,32 @@ public class AltosState implements Cloneable {
 		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_altitude = old.ground_altitude;
-		altitude = old.altitude;
-		height = old.height;
-		pressure = old.pressure;
-		acceleration = old.acceleration;
+		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);
+
 		battery_voltage = old.battery_voltage;
 		pyro_voltage = old.pyro_voltage;
 		temperature = old.temperature;
 		apogee_voltage = old.apogee_voltage;
 		main_voltage = old.main_voltage;
-		speed = old.speed;
-
-		prev_height = old.height;
-		prev_speed = old.speed;
-		prev_acceleration = old.acceleration;
-		prev_time = old.time;
-
-		max_height = old.max_height;
-		max_acceleration = old.max_acceleration;
-		max_speed = old.max_speed;
+		ignitor_voltage = old.ignitor_voltage;
 
-		kalman_height = old.kalman_height;
-		kalman_speed = old.kalman_speed;
-		kalman_acceleration = old.kalman_acceleration;
+		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();
@@ -266,6 +685,7 @@ public class AltosState implements Cloneable {
 			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;
 
@@ -306,122 +726,17 @@ public class AltosState implements Cloneable {
 		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;
+		receiver_serial = old.receiver_serial;
 
 		baro = old.baro;
 		companion = old.companion;
 	}
-
-	double altitude() {
-		if (altitude != AltosRecord.MISSING)
-			return altitude;
-		if (gps != null)
-			return gps.alt;
-		return AltosRecord.MISSING;
-	}
-
-	void update_vertical_pos() {
-
-		double	alt = altitude();
-
-		if (state == AltosLib.ao_flight_pad && alt != AltosRecord.MISSING && ground_pressure == AltosRecord.MISSING) {
-			if (ground_altitude == AltosRecord.MISSING)
-				ground_altitude = alt;
-			else
-				ground_altitude = (ground_altitude * 7 + alt) / 8;
-		}
-
-		if (kalman_height != AltosRecord.MISSING)
-			height = kalman_height;
-		else if (altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING)
-			height = altitude - ground_altitude;
-		else
-			height = AltosRecord.MISSING;
-
-		if (height != AltosRecord.MISSING && height > max_height)
-			max_height = height;
-
-		update_speed();
-	}
-
-	double motion_filter_value() {
-		return 1/ Math.exp(time_change/10.0);
-	}
-
-	void update_speed() {
-		if (kalman_speed != AltosRecord.MISSING)
-			speed = kalman_speed;
-		else if (state != AltosLib.ao_flight_invalid &&
-			 time_change != AltosRecord.MISSING)
-		{
-			if (ascent && acceleration != AltosRecord.MISSING)
-			{
-				if (prev_speed == AltosRecord.MISSING)
-					speed = acceleration * time_change;
-				else
-					speed = prev_speed + acceleration * time_change;
-			}
-			else if (height != AltosRecord.MISSING &&
-				 prev_height != AltosRecord.MISSING &&
-				 time_change != 0)
-			{
-				double	new_speed = (height - prev_height) / time_change;
-
-				if (prev_speed == AltosRecord.MISSING)
-					speed = new_speed;
-				else {
-					double	filter = motion_filter_value();
-
-					speed = prev_speed * filter + new_speed * (1-filter);
-				}
-			}
-		}
-		if (acceleration == AltosRecord.MISSING) {
-			if (prev_speed != AltosRecord.MISSING && time_change != 0) {
-				double	new_acceleration = (speed - prev_speed) / time_change;
-
-				if (prev_acceleration == AltosRecord.MISSING)
-					acceleration = new_acceleration;
-				else {
-					double filter = motion_filter_value();
-
-					acceleration = prev_acceleration * filter + new_acceleration * (1-filter);
-				}
-			}
-		}
-		if (boost && speed != AltosRecord.MISSING && speed > max_speed)
-			max_speed = speed;
-	}
 	
-	void update_accel() {
-		if (accel == AltosRecord.MISSING)
-			return;
-		if (ground_accel == AltosRecord.MISSING)
-			return;
-		if (accel_plus_g == AltosRecord.MISSING)
-			return;
-		if (accel_minus_g == AltosRecord.MISSING)
-			return;
-
-		double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
-		double counts_per_mss = counts_per_g / 9.80665;
-
-		acceleration = (ground_accel - accel) / counts_per_mss;
-
-		/* Only look at accelerometer data under boost */
-		if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
-			max_acceleration = acceleration;
-		update_speed();
-	}
-
 	void update_time() {
-		if (tick != AltosRecord.MISSING) {
-			time = tick / 100.0;
-			if (prev_time != AltosRecord.MISSING)
-				time_change = time - prev_time;
-		}
 	}
 
 	void update_gps() {
@@ -436,25 +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;
+			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;
@@ -463,21 +778,21 @@ public class AltosState implements Cloneable {
 		}
 	}
 
-	public void set_tick(int tick) {
-		if (tick != AltosRecord.MISSING) {
-			if (this.tick != AltosRecord.MISSING) {
-				while (tick < this.tick)
-					tick += 65536;
-				time_change = (tick - this.tick) / 100.0;
-			} else
-				time_change = 0;
-			this.tick = tick;
-			update_time();
+	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 void set_boost_tick(int boost_tick) {
-		if (boost_tick != AltosRecord.MISSING)
+		if (boost_tick != AltosLib.MISSING)
 			this.boost_tick = boost_tick;
 	}
 
@@ -495,11 +810,31 @@ public class AltosState implements Cloneable {
 
 	}
 
+	public void set_device_type(int device_type) {
+		this.device_type = device_type;
+	}
+
+	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_callsign(String callsign) {
+		this.callsign = callsign;
+	}
+
+	public void set_firmware_version(String version) {
+		firmware_version = version;
+	}
+
 	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();
 			}
@@ -509,8 +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();
 			}
@@ -518,74 +853,60 @@ 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;
 		}
 	}
 
-	public void set_altitude(double altitude) {
-		if (altitude != AltosRecord.MISSING) {
-			this.altitude = altitude;
-			update_vertical_pos();
-			set |= set_position;
-		}
-	}
-
-	public void set_ground_altitude(double ground_altitude) {
-		if (ground_altitude != AltosRecord.MISSING) {
-			this.ground_altitude = ground_altitude;
-			update_vertical_pos();
-		}
-	}
-
-	public void set_ground_pressure (double pressure) {
-		if (pressure != AltosRecord.MISSING) {
-			this.ground_pressure = pressure;
-			set_ground_altitude(AltosConvert.pressure_to_altitude(pressure));
-			update_vertical_pos();
-		}
+	public void set_received_time(long ms) {
+		received_time = ms;
 	}
 
 	public void set_gps(AltosGPS gps, int sequence) {
 		if (gps != null) {
-			System.out.printf ("gps date: %d-%d-%d time %d:%d:%d\n",
-					   gps.year, gps.month, gps.day,
-					   gps.hour, gps.minute, gps.second);
 			this.gps = gps.clone();
 			gps_sequence = sequence;
 			update_gps();
-			update_vertical_pos();
 			set |= set_gps;
 		}
 	}
 
-	public void set_kalman(double height, double speed, double acceleration) {
-		if (height != AltosRecord.MISSING) {
-			kalman_height = height;
-			kalman_speed = speed;
-			kalman_acceleration = acceleration;
-			update_vertical_pos();
-		}
+	public void set_imu(AltosIMU imu) {
+		if (imu != null)
+			imu = imu.clone();
+		this.imu = imu;
 	}
 
-	public void set_pressure(double pressure) {
-		if (pressure != AltosRecord.MISSING) {
-			this.pressure = pressure;
-			set_altitude(AltosConvert.pressure_to_altitude(pressure));
-		}
+	public void set_mag(AltosMag mag) {
+		this.mag = mag.clone();
 	}
 
-	public void make_baro() {
+	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) {
@@ -599,90 +920,123 @@ 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 == AltosLib.MISSING)
+			ground = ground_accel_avg;
+		if (accel == AltosLib.MISSING)
+			return;
+		if (ground == AltosLib.MISSING)
+			return;
+		if (accel_plus_g == AltosLib.MISSING)
+			return;
+		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_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();
 		}
 	}
+
 	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 == AltosLib.MISSING)
+					ground_accel_avg = accel;
+				else
+					ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
+			}
 		}
 		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 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() {
+	public AltosGPS make_temp_gps(boolean sats) {
 		if (temp_gps == null) {
 			temp_gps = new AltosGPS(gps);
-			temp_gps.cc_gps_sat = null;
 		}
 		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;
 	}
 
@@ -692,60 +1046,12 @@ public class AltosState implements Cloneable {
 		temp_gps = null;
 	}
 
-	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);
-
-		report_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 clone() {
 		AltosState s = new AltosState();
 		s.copy(this);
 		return s;
 	}
 
-	public AltosState(AltosRecord cur) {
-		init(cur, null);
-	}
-
-	public AltosState (AltosRecord cur, AltosState prev) {
-		init(cur, prev);
-	}
-
 	public AltosState () {
 		init();
 	}