X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altosui%2FAltosState.java;fp=altosui%2FAltosState.java;h=ec499d5acf2110e776e2096decf83e8b088a69e8;hp=0000000000000000000000000000000000000000;hb=f01096c4b42f9a4720ed0414826c2a283a992545;hpb=357826aa9c7b42c59f5d52b8eb016d73b6da0c7f

diff --git a/altosui/AltosState.java b/altosui/AltosState.java
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+++ b/altosui/AltosState.java
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+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+/*
+ * Track flight state from telemetry or eeprom data stream
+ */
+
+package altosui;
+
+public class AltosState {
+	AltosRecord data;
+
+	/* derived data */
+
+	long  	report_time;
+
+	double	time_change;
+	int	tick;
+
+	int	state;
+	boolean	landed;
+	boolean	ascent;	/* going up? */
+
+	double	ground_altitude;
+	double	height;
+	double	speed;
+	double	acceleration;
+	double	battery;
+	double	temperature;
+	double	main_sense;
+	double	drogue_sense;
+	double	baro_speed;
+
+	double	max_height;
+	double	max_acceleration;
+	double	max_speed;
+
+	AltosGPS	gps;
+
+	double	pad_lat;
+	double	pad_lon;
+	double	pad_alt;
+
+	static final int MIN_PAD_SAMPLES = 10;
+
+	int	npad;
+	int	ngps;
+	int	gps_waiting;
+	boolean	gps_ready;
+
+	AltosGreatCircle from_pad;
+	double	elevation;	/* from pad */
+	double	range;		/* total distance */
+
+	double	gps_height;
+
+	int	speak_tick;
+	double	speak_altitude;
+
+
+	void init (AltosRecord cur, AltosState prev_state) {
+		int		i;
+		AltosRecord prev;
+
+		data = cur;
+
+		ground_altitude = data.ground_altitude();
+		height = data.filtered_altitude() - ground_altitude;
+
+		report_time = System.currentTimeMillis();
+
+		acceleration = data.acceleration();
+		speed = data.accel_speed();
+		temperature = data.temperature();
+		drogue_sense = data.drogue_voltage();
+		main_sense = data.main_voltage();
+		battery = data.battery_voltage();
+		tick = data.tick;
+		state = data.state;
+
+		if (prev_state != null) {
+
+			/* Preserve any existing gps data */
+			npad = prev_state.npad;
+			ngps = prev_state.ngps;
+			gps = prev_state.gps;
+			pad_lat = prev_state.pad_lat;
+			pad_lon = prev_state.pad_lon;
+			pad_alt = prev_state.pad_alt;
+			max_height = prev_state.max_height;
+			max_acceleration = prev_state.max_acceleration;
+			max_speed = prev_state.max_speed;
+
+			/* make sure the clock is monotonic */
+			while (tick < prev_state.tick)
+				tick += 65536;
+
+			time_change = (tick - prev_state.tick) / 100.0;
+
+			/* compute barometric speed */
+
+			double height_change = height - prev_state.height;
+			if (time_change > 0)
+				baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
+			else
+				baro_speed = prev_state.baro_speed;
+		} else {
+			npad = 0;
+			ngps = 0;
+			gps = null;
+			baro_speed = 0;
+			time_change = 0;
+		}
+
+		if (state == Altos.ao_flight_pad) {
+
+			/* Track consecutive 'good' gps reports, waiting for 10 of them */
+			if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
+				npad++;
+			else
+				npad = 0;
+
+			/* Average GPS data while on the pad */
+			if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
+				if (ngps > 1) {
+					/* filter pad position */
+					pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
+					pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
+					pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
+				} else {
+					pad_lat = data.gps.lat;
+					pad_lon = data.gps.lon;
+					pad_alt = data.gps.alt;
+				}
+				ngps++;
+			}
+		}
+
+		gps_waiting = MIN_PAD_SAMPLES - npad;
+		if (gps_waiting < 0)
+			gps_waiting = 0;
+
+		gps_ready = gps_waiting == 0;
+
+		ascent = (Altos.ao_flight_boost <= state &&
+			  state <= Altos.ao_flight_coast);
+
+		/* Only look at accelerometer data on the way up */
+		if (ascent && acceleration > max_acceleration)
+			max_acceleration = acceleration;
+		if (ascent && speed > max_speed)
+			max_speed = speed;
+
+		if (height > max_height)
+			max_height = height;
+		if (data.gps != null) {
+			if (gps == null || !gps.locked || data.gps.locked)
+				gps = data.gps;
+			if (ngps > 0 && gps.locked) {
+				from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
+			}
+		}
+		elevation = 0;
+		range = -1;
+		if (ngps > 0) {
+			gps_height = gps.alt - pad_alt;
+			if (from_pad != null) {
+				elevation = Math.atan2(height, from_pad.distance) * 180 / Math.PI;
+				range = Math.sqrt(height * height + from_pad.distance * from_pad.distance);
+			}
+		} else {
+			gps_height = 0;
+		}
+	}
+
+	public AltosState(AltosRecord cur) {
+		init(cur, null);
+	}
+
+	public AltosState (AltosRecord cur, AltosState prev) {
+		init(cur, prev);
+	}
+}