altoslib: Clean up GPS DOP support in AltosState

Parse out hdop/pdop/vdop from telem and eeprom. Deal with legacy
eeprom files that have dop/100 instead of dop/10 values.

Clear state DOP values to MISSING at startup

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/altoslib/AltosEepromGPS.java b/altoslib/AltosEepromGPS.java
index 2514b4fcd2a2abeb5441f74008c1a50828d1fded..46a2173de6063c08211789598df215241c1178f2 100644 (file)
--- a/altoslib/AltosEepromGPS.java
+++ b/altoslib/AltosEepromGPS.java
@@ -118,8 +118,21 @@ public class AltosEepromGPS extends AltosEeprom {
                        gps.ground_speed = ground_speed() * 1.0e-2;
                        gps.course = course() * 2;
                        gps.climb_rate = climb_rate() * 1.0e-2;
                        gps.ground_speed = ground_speed() * 1.0e-2;
                        gps.course = course() * 2;
                        gps.climb_rate = climb_rate() * 1.0e-2;

-                       gps.hdop = hdop();
-                       gps.vdop = vdop();
+                       if (state.compare_version("1.4.9") >= 0) {
+                               gps.pdop = pdop() / 10.0;
+                               gps.hdop = hdop() / 10.0;
+                               gps.vdop = vdop() / 10.0;
+                       } else {
+                               gps.pdop = pdop() / 100.0;
+                               if (gps.pdop < 0.8)
+                                       gps.pdop += 2.56;
+                               gps.hdop = hdop() / 100.0;
+                               if (gps.hdop < 0.8)
+                                       gps.hdop += 2.56;
+                               gps.vdop = vdop() / 100.0;
+                               if (gps.vdop < 0.8)
+                                       gps.vdop += 2.56;
+                       }

                        break;
                }
        }
                        break;
                }
        }

diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java
index 5d5f3fef20d6af91fa8f83085a8c9366d0a1da8d..1616de771ef2cdbdcea4b6607a2f88549968ffbf 100644 (file)
--- a/altoslib/AltosEepromMega.java
+++ b/altoslib/AltosEepromMega.java
@@ -187,8 +187,21 @@ public class AltosEepromMega extends AltosEeprom {
                        gps.ground_speed = ground_speed() * 1.0e-2;
                        gps.course = course() * 2;
                        gps.climb_rate = climb_rate() * 1.0e-2;
                        gps.ground_speed = ground_speed() * 1.0e-2;
                        gps.course = course() * 2;
                        gps.climb_rate = climb_rate() * 1.0e-2;

-                       gps.hdop = hdop();
-                       gps.vdop = vdop();
+                       if (state.compare_version("1.4.9") >= 0) {
+                               gps.pdop = pdop() / 10.0;
+                               gps.hdop = hdop() / 10.0;
+                               gps.vdop = vdop() / 10.0;
+                       } else {
+                               gps.pdop = pdop() / 100.0;
+                               if (gps.pdop < 0.8)
+                                       gps.pdop += 2.56;
+                               gps.hdop = hdop() / 100.0;
+                               if (gps.hdop < 0.8)
+                                       gps.hdop += 2.56;
+                               gps.vdop = vdop() / 100.0;
+                               if (gps.vdop < 0.8)
+                                       gps.vdop += 2.56;
+                       }

                        break;
                case AltosLib.AO_LOG_GPS_SAT:
                        state.set_tick(tick);
                        break;
                case AltosLib.AO_LOG_GPS_SAT:
                        state.set_tick(tick);

diff --git a/altoslib/AltosEepromMetrum2.java b/altoslib/AltosEepromMetrum2.java
index 2427711898e4cc0b6ec2589307c1d2782ad863e9..2f43879ec978a902a6adaf82f4ce42210a38c32f 100644 (file)
--- a/altoslib/AltosEepromMetrum2.java
+++ b/altoslib/AltosEepromMetrum2.java
@@ -59,6 +59,7 @@ public class AltosEepromMetrum2 extends AltosEeprom {
        public int year() { return data8(4); }
        public int month() { return data8(5); }
        public int day() { return data8(6); }
        public int year() { return data8(4); }
        public int month() { return data8(5); }
        public int day() { return data8(6); }

+       public int pdop() { return data8(7); }

 
        /* AO_LOG_GPS_SAT elements */
        public int nsat() { return data8(0); }
 
        /* AO_LOG_GPS_SAT elements */
        public int nsat() { return data8(0); }


@@ -136,6 +137,7 @@ public class AltosEepromMetrum2 extends AltosEeprom {
                        gps.year = 2000 + year();
                        gps.month = month();
                        gps.day = day();
                        gps.year = 2000 + year();
                        gps.month = month();
                        gps.day = day();

+                       gps.pdop = pdop() / 10.0;

                        break;
                case AltosLib.AO_LOG_GPS_SAT:
                        gps = state.make_temp_gps(true);
                        break;
                case AltosLib.AO_LOG_GPS_SAT:
                        gps = state.make_temp_gps(true);

diff --git a/altoslib/AltosGPS.java b/altoslib/AltosGPS.java
index aabcfc5b8288fa28bfd0b0a5f6ac1c423421468c..0154e95d7c96d3231d831d18973010a32f1989f9 100644 (file)
--- a/altoslib/AltosGPS.java
+++ b/altoslib/AltosGPS.java
@@ -40,10 +40,11 @@ public class AltosGPS implements Cloneable {
        public double   ground_speed;   /* m/s */
        public int      course;         /* degrees */
        public double   climb_rate;     /* m/s */
        public double   ground_speed;   /* m/s */
        public int      course;         /* degrees */
        public double   climb_rate;     /* m/s */

+       public double   pdop;           /* unitless */

        public double   hdop;           /* unitless */
        public double   vdop;           /* unitless */
        public double   hdop;           /* unitless */
        public double   vdop;           /* unitless */

-       public int      h_error;        /* m */
-       public int      v_error;        /* m */
+       public double   h_error;        /* m */
+       public double   v_error;        /* m */

 
        public AltosGPSSat[] cc_gps_sat;        /* tracking data */
 
 
        public AltosGPSSat[] cc_gps_sat;        /* tracking data */
 


@@ -95,6 +96,7 @@ public class AltosGPS implements Cloneable {
                                                      AltosLib.MISSING, 1/100.0);
                        course = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_COURSE,
                                             AltosLib.MISSING);
                                                      AltosLib.MISSING, 1/100.0);
                        course = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_COURSE,
                                             AltosLib.MISSING);

+                       pdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_PDOP, MISSING, 1.0);

                        hdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HDOP, MISSING, 1.0);
                        vdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_VDOP, MISSING, 1.0);
                        h_error = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_HERROR, MISSING);
                        hdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HDOP, MISSING, 1.0);
                        vdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_VDOP, MISSING, 1.0);
                        h_error = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_HERROR, MISSING);


@@ -268,14 +270,26 @@ public class AltosGPS implements Cloneable {
                cc_gps_sat[cc_gps_sat.length - 1] = sat;
        }
 
                cc_gps_sat[cc_gps_sat.length - 1] = sat;
        }
 

-       public AltosGPS() {
+       private void init() {

                lat = AltosLib.MISSING;
                lon = AltosLib.MISSING;
                alt = AltosLib.MISSING;
                lat = AltosLib.MISSING;
                lon = AltosLib.MISSING;
                alt = AltosLib.MISSING;

+               ground_speed = AltosLib.MISSING;
+               course = AltosLib.MISSING;
+               climb_rate = AltosLib.MISSING;
+               pdop = AltosLib.MISSING;
+               hdop = AltosLib.MISSING;
+               vdop = AltosLib.MISSING;
+               h_error = AltosLib.MISSING;
+               v_error = AltosLib.MISSING;

                ClearGPSTime();
                cc_gps_sat = null;
        }
 
                ClearGPSTime();
                cc_gps_sat = null;
        }
 

+       public AltosGPS() {
+               init();
+       }
+

        public AltosGPS clone() {
                AltosGPS        g = new AltosGPS();
 
        public AltosGPS clone() {
                AltosGPS        g = new AltosGPS();
 


@@ -295,7 +309,9 @@ public class AltosGPS implements Cloneable {
                g.ground_speed = ground_speed;  /* m/s */
                g.course = course;              /* degrees */
                g.climb_rate = climb_rate;      /* m/s */
                g.ground_speed = ground_speed;  /* m/s */
                g.course = course;              /* degrees */
                g.climb_rate = climb_rate;      /* m/s */

-               g.hdop = hdop;          /* unitless? */
+               g.pdop = pdop;          /* unitless */
+               g.hdop = hdop;          /* unitless */
+               g.vdop = vdop;          /* unitless */

                g.h_error = h_error;    /* m */
                g.v_error = v_error;    /* m */
 
                g.h_error = h_error;    /* m */
                g.v_error = v_error;    /* m */
 


@@ -327,9 +343,11 @@ public class AltosGPS implements Cloneable {
                        ground_speed = old.ground_speed;        /* m/s */
                        course = old.course;            /* degrees */
                        climb_rate = old.climb_rate;    /* m/s */
                        ground_speed = old.ground_speed;        /* m/s */
                        course = old.course;            /* degrees */
                        climb_rate = old.climb_rate;    /* m/s */

+                       pdop = old.pdop;                /* unitless? */

                        hdop = old.hdop;                /* unitless? */
                        hdop = old.hdop;                /* unitless? */

-                       h_error = old.h_error;  /* m */
-                       v_error = old.v_error;  /* m */
+                       vdop = old.vdop;                /* unitless? */
+                       h_error = old.h_error;          /* m */
+                       v_error = old.v_error;          /* m */

 
                        if (old.cc_gps_sat != null) {
                                cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
 
                        if (old.cc_gps_sat != null) {
                                cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];


@@ -340,11 +358,7 @@ public class AltosGPS implements Cloneable {
                                }
                        }
                } else {
                                }
                        }
                } else {

-                       lat = AltosLib.MISSING;
-                       lon = AltosLib.MISSING;
-                       alt = AltosLib.MISSING;
-                       ClearGPSTime();
-                       cc_gps_sat = null;
+                       init();

                }
        }
 
                }
        }
 

diff --git a/altoslib/AltosLib.java b/altoslib/AltosLib.java
index c2ec0e3bb1a3af007093832fe2cf6d859e9e1c41..eb188d6b5a7c3be8b2585bacf1853dfc5a852951 100644 (file)
--- a/altoslib/AltosLib.java
+++ b/altoslib/AltosLib.java
@@ -215,6 +215,31 @@ public class AltosLib {
                                                                 telemetry));
        }
 
                                                                 telemetry));
        }
 

+       private static int[] split_version(String version) {
+               String[] tokens = version.split("\\.");
+               int[] ret = new int[tokens.length];
+               for (int i = 0; i < tokens.length; i++)
+                       ret[i] = Integer.parseInt(tokens[i]);
+               return ret;
+       }
+
+       public static int compare_version(String version_a, String version_b) {
+               int[] a = split_version(version_a);
+               int[] b = split_version(version_b);
+
+               for (int i = 0; i < Math.min(a.length, b.length); i++) {
+                       if (a[i] < b[i])
+                               return -1;
+                       if (a[i] > b[i])
+                               return 1;
+               }
+               if (a.length < b.length)
+                       return -1;
+               if (a.length > b.length)
+                       return 1;
+               return 0;
+       }
+

        private static String[] state_to_string = {
                "startup",
                "idle",
        private static String[] state_to_string = {
                "startup",
                "idle",

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index 5e7908af135402642abf1d7824a34943ad43954e..2fc13b446882c56511450a92da9ee530f30b4e00 100644 (file)
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -1024,6 +1024,12 @@ public class AltosState implements Cloneable {
                firmware_version = version;
        }
 
                firmware_version = version;
        }
 

+       public int compare_version(String other_version) {
+               if (firmware_version == null)
+                       return AltosLib.MISSING;
+               return AltosLib.compare_version(firmware_version, other_version);
+       }
+

        private void re_init() {
                int bt = boost_tick;
                int rs = receiver_serial;
        private void re_init() {
                int bt = boost_tick;
                int rs = receiver_serial;

diff --git a/altoslib/AltosTelemetryLegacy.java b/altoslib/AltosTelemetryLegacy.java
index b7aae3c477e4f7bc2d8dd92d501a0943634dfcc9..72a8bc4a0750b6faeb0c95b12f11f1045f4e49ac 100644 (file)
--- a/altoslib/AltosTelemetryLegacy.java
+++ b/altoslib/AltosTelemetryLegacy.java
@@ -186,6 +186,7 @@ public class AltosTelemetryLegacy extends AltosTelemetry {
         *      g_v             GPS vertical speed (integer, cm/sec)
         *      g_s             GPS horizontal speed (integer, cm/sec)
         *      g_c             GPS course (integer, 0-359)
         *      g_v             GPS vertical speed (integer, cm/sec)
         *      g_s             GPS horizontal speed (integer, cm/sec)
         *      g_c             GPS course (integer, 0-359)

+        *      g_pd            GPS pdop (integer * 10)

         *      g_hd            GPS hdop (integer * 10)
         *      g_vd            GPS vdop (integer * 10)
         *      g_he            GPS h error (integer)
         *      g_hd            GPS hdop (integer * 10)
         *      g_vd            GPS vdop (integer * 10)
         *      g_he            GPS h error (integer)


@@ -209,6 +210,7 @@ public class AltosTelemetryLegacy extends AltosTelemetry {
        final static String AO_TELEM_GPS_VERTICAL_SPEED         = "g_v";
        final static String AO_TELEM_GPS_HORIZONTAL_SPEED       = "g_g";
        final static String AO_TELEM_GPS_COURSE                 = "g_c";
        final static String AO_TELEM_GPS_VERTICAL_SPEED         = "g_v";
        final static String AO_TELEM_GPS_HORIZONTAL_SPEED       = "g_g";
        final static String AO_TELEM_GPS_COURSE                 = "g_c";

+       final static String AO_TELEM_GPS_PDOP                   = "g_pd";

        final static String AO_TELEM_GPS_HDOP                   = "g_hd";
        final static String AO_TELEM_GPS_VDOP                   = "g_vd";
        final static String AO_TELEM_GPS_HERROR                 = "g_he";
        final static String AO_TELEM_GPS_HDOP                   = "g_hd";
        final static String AO_TELEM_GPS_VDOP                   = "g_vd";
        final static String AO_TELEM_GPS_HERROR                 = "g_he";

diff --git a/altoslib/AltosTelemetryLocation.java b/altoslib/AltosTelemetryLocation.java
index 32ca76087153c7ffe39a09d0b7e88406af8313b1..9d50e2fa4570f56ccd2a26ade60839ad48cd7250 100644 (file)
--- a/altoslib/AltosTelemetryLocation.java
+++ b/altoslib/AltosTelemetryLocation.java
@@ -80,8 +80,9 @@ public class AltosTelemetryLocation extends AltosTelemetryStandard {
                        gps.ground_speed = ground_speed * 1.0e-2;
                        gps.course = course * 2;
                        gps.climb_rate = climb_rate * 1.0e-2;
                        gps.ground_speed = ground_speed * 1.0e-2;
                        gps.course = course * 2;
                        gps.climb_rate = climb_rate * 1.0e-2;

-                       gps.hdop = hdop;
-                       gps.vdop = vdop;
+                       gps.pdop = pdop / 10.0;
+                       gps.hdop = hdop / 10.0;
+                       gps.vdop = vdop / 10.0;

                }
                state.set_temp_gps();
        }
                }
                state.set_temp_gps();
        }

diff --git a/altoslib/AltosWriter.java b/altoslib/AltosWriter.java
index 9df52250a254afe8cd634009596344c5c4e2eacf..fb208b02989bc77590d09a10ef5fd224aff6f3f7 100644 (file)
--- a/altoslib/AltosWriter.java
+++ b/altoslib/AltosWriter.java
@@ -19,8 +19,6 @@ package org.altusmetrum.altoslib_5;
 
 public interface AltosWriter {
 
 
 public interface AltosWriter {
 

-       public void write(AltosState state);
-

        public void write(AltosStateIterable states);
 
        public void close();
        public void write(AltosStateIterable states);
 
        public void close();