public int set;
+ static final double filter_len = 0.5;
+
/* derived data */
public long received_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;
+ private double max_rate = 1000.0;
+
+ void set(double new_value, double time) {
+ if (new_value != AltosRecord.MISSING) {
+ value = new_value;
+ if (max_value == AltosRecord.MISSING || value > max_value) {
+ max_value = value;
+ }
+ set_time = time;
+ }
+ }
+
+ double value() {
+ return value;
+ }
+
+ double max() {
+ return max_value;
+ }
+
+ double prev() {
+ return prev_value;
+ }
+
+ double change() {
+ if (value != AltosRecord.MISSING && prev_value != AltosRecord.MISSING)
+ return value - prev_value;
+ return AltosRecord.MISSING;
+ }
+
+ double rate() {
+ double c = change();
+ double t = set_time - prev_set_time;
+
+ if (c != AltosRecord.MISSING && t != 0)
+ return c / t;
+ return AltosRecord.MISSING;
+ }
+
+ double integrate() {
+ if (value == AltosRecord.MISSING)
+ return AltosRecord.MISSING;
+ if (prev_value == AltosRecord.MISSING)
+ return AltosRecord.MISSING;
+
+ return (value + prev_value) / 2 * (set_time - prev_set_time);
+ }
+
+ double time() {
+ return set_time;
+ }
+
+ void set_derivative(AltosValue in) {
+ double new_value = in.rate();
+
+ if (new_value == AltosRecord.MISSING)
+ return;
+
+ /* Clip changes to reduce noise */
+ if (prev_value != AltosRecord.MISSING) {
+ double ddt = in.time() - prev_set_time;
+ double ddv = (new_value - prev_value) / ddt;
+
+ /* 100gs */
+ if (Math.abs(ddv) > 1000) {
+ if (new_value > prev_value)
+ new_value = prev_value + ddt * 1000;
+ else
+ new_value = prev_value - ddt * 1000;
+ }
+
+ double f = 1/Math.exp(ddt/ filter_len);
+ new_value = prev_value * f + new_value * (1-f);
+ }
+
+ set(new_value, in.time());
+ }
+
+ void set_integral(AltosValue in) {
+ double change = in.integrate();
+
+ if (change != AltosRecord.MISSING)
+ set(prev_value + 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;
+ }
+
+ AltosValue() {
+ value = AltosRecord.MISSING;
+ prev_value = AltosRecord.MISSING;
+ max_value = AltosRecord.MISSING;
+ }
+ }
+
+ class AltosCValue {
+ AltosValue measured;
+ AltosValue computed;
+
+ double value() {
+ double v = measured.value();
+ if (v != AltosRecord.MISSING)
+ return v;
+ return computed.value();
+ }
+
+ boolean is_measured() {
+ return measured.value() != AltosRecord.MISSING;
+ }
+
+ double max() {
+ double m = measured.max();
+
+ if (m != AltosRecord.MISSING)
+ return m;
+ return computed.max();
+ }
+
+ double prev_value() {
+ if (measured.value != AltosRecord.MISSING && measured.prev_value != AltosRecord.MISSING)
+ return measured.prev_value;
+ return computed.prev_value;
+ }
+
+ AltosValue altos_value() {
+ if (measured.value() != AltosRecord.MISSING)
+ return measured;
+ return computed;
+ }
+
+ double change() {
+ double c = measured.change();
+ if (c == AltosRecord.MISSING)
+ c = computed.change();
+ return c;
+ }
+
+ double rate() {
+ double r = measured.rate();
+ if (r == AltosRecord.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);
+ }
+
+ AltosCValue() {
+ measured = new AltosValue();
+ computed = new AltosValue();
+ }
+ }
+
public int state;
public int flight;
public int serial;
public int main_deploy;
public int flight_log_max;
- public double ground_altitude;
- public double ground_pressure;
- public double altitude;
- public double height;
- public double pressure;
- public double acceleration;
+ private double pressure_to_altitude(double p) {
+ if (p == AltosRecord.MISSING)
+ return AltosRecord.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 AltosValue {
+ void set(double p, double time) {
+ super.set(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(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 != AltosRecord.MISSING)
+ return a;
+ if (gps != null)
+ return gps.alt;
+ return AltosRecord.MISSING;
+ }
+
+ public double max_altitude() {
+ double a = altitude.max();
+ if (a != AltosRecord.MISSING)
+ return a;
+ return AltosRecord.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);
+ altitude.set_computed(pressure_to_altitude(p), 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 != AltosRecord.MISSING)
+ return k;
+
+ double a = altitude();
+ double g = ground_altitude();
+ if (a != AltosRecord.MISSING && g != AltosRecord.MISSING)
+ return a - g;
+ return AltosRecord.MISSING;
+ }
+
+ public double max_height() {
+ double k = kalman_height.max();
+ if (k != AltosRecord.MISSING)
+ return k;
+
+ double a = altitude.max();
+ double g = ground_altitude();
+ if (a != AltosRecord.MISSING && g != AltosRecord.MISSING)
+ return a - g;
+ return AltosRecord.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() {
+ return speed.value();
+ }
+
+ public double max_speed() {
+ 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 battery_voltage;
public double pyro_voltage;
public double temperature;
public double apogee_voltage;
public double main_voltage;
- public double speed;
- public double ignitor_voltage[];
-
- public double prev_height;
- public double prev_speed;
- public double prev_acceleration;
- public double prev_max_height;
- public double prev_max_acceleration;
- public double prev_max_speed;
-
- 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 boolean temp_gps_clear_sats_pending;
public boolean gps_pending;
public int gps_sequence;
public AltosRecordCompanion companion;
- public double speed() {
- return speed;
- }
-
- public double max_speed() {
- return max_speed;
- }
-
public void set_npad(int npad) {
this.npad = npad;
gps_waiting = MIN_PAD_SAMPLES - npad;
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;
main_deploy = AltosRecord.MISSING;
flight_log_max = AltosRecord.MISSING;
- 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;
-
- prev_max_height = 0;
- prev_max_speed = 0;
- prev_max_acceleration = 0;
+ ground_altitude = new AltosCValue();
+ ground_pressure = new AltosGroundPressure();
+ altitude = new AltosAltitude();
+ pressure = new AltosPressure();
+ 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;
ignitor_voltage = null;
- speed = AltosRecord.MISSING;
-
- kalman_height = AltosRecord.MISSING;
- kalman_speed = AltosRecord.MISSING;
- kalman_acceleration = AltosRecord.MISSING;
-
- max_speed = 0;
- max_height = 0;
- max_acceleration = 0;
+ 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;
accel_plus_g = AltosRecord.MISSING;
accel_minus_g = AltosRecord.MISSING;
accel = AltosRecord.MISSING;
+
ground_accel = AltosRecord.MISSING;
ground_accel_avg = AltosRecord.MISSING;
+
log_format = AltosRecord.MISSING;
serial = AltosRecord.MISSING;
time = old.time;
time_change = 0;
tick = old.tick;
+ prev_tick = old.tick;
boost_tick = old.boost_tick;
state = old.state;
set = 0;
- ground_altitude = old.ground_altitude;
- altitude = old.altitude;
- height = old.height;
- pressure = old.pressure;
- acceleration = old.acceleration;
+ 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;
- speed = old.speed;
-
- prev_height = old.height;
- prev_speed = old.speed;
- prev_acceleration = old.acceleration;
-
- prev_max_height = old.max_height;
- prev_max_speed = old.max_speed;
- prev_max_acceleration = old.max_acceleration;
- prev_time = old.time;
- max_height = old.max_height;
- max_acceleration = old.max_acceleration;
- max_speed = old.max_speed;
-
- 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();
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;
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 > prev_max_height)
- max_height = height;
-
- update_speed();
- }
-
- double motion_filter_value() {
- return 1/ Math.exp(time_change/2.0);
- }
-
- 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 > prev_max_speed)
- max_speed = speed;
- }
- void update_accel() {
- if (kalman_acceleration != AltosRecord.MISSING) {
- acceleration = kalman_acceleration;
- } else {
- double ground = ground_accel;
-
- 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;
-
- double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
- double counts_per_mss = counts_per_g / 9.80665;
- acceleration = (ground - accel) / counts_per_mss;
- }
-
- /* Only look at accelerometer data under boost */
- if (boost && acceleration != AltosRecord.MISSING && acceleration > prev_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() {
pad_lat != AltosRecord.MISSING &&
pad_lon != AltosRecord.MISSING)
{
- double h = height;
+ double h = height();
if (h == AltosRecord.MISSING)
h = 0;
}
}
- 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 != AltosRecord.MISSING) {
+ if (prev_tick != AltosRecord.MISSING) {
+ while (new_tick < prev_tick - 32767) {
+ new_tick += 65536;
+ }
+ }
+ tick = new_tick;
+ time = tick / 100.0;
}
}
received_time = ms;
}
- 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_gps(AltosGPS gps, int sequence) {
if (gps != null) {
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();
- update_speed();
- update_accel();
- }
- }
-
- public void set_pressure(double pressure) {
- if (pressure != AltosRecord.MISSING) {
- this.pressure = pressure;
- set_altitude(AltosConvert.pressure_to_altitude(pressure));
- }
- }
-
public void make_baro() {
if (baro == null)
baro = new AltosMs5607();
this.companion = companion;
}
+ void update_accel() {
+ double ground = ground_accel;
+
+ 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;
+
+ 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 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;
update_accel();
}
}
+
public void set_ground_accel(double ground_accel) {
if (ground_accel != AltosRecord.MISSING) {
this.ground_accel = ground_accel;
return tick != AltosRecord.MISSING && serial != AltosRecord.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)
+ 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;
}
projects / fw / altos / commitdiff