From: Keith Packard <keithp@keithp.com>
Date: Sat, 25 Jan 2014 06:39:10 +0000 (-0800)
Subject: altoslib: Track GPS altitude values to be able to report max gps height
X-Git-Tag: 1.3.2~32
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=e4616233f3942d2796ba6633477670a83669957b

altoslib: Track GPS altitude values to be able to report max gps height

This adds separate GPS altitude and GPS ground altitude values so that
the AltosState object can report GPS max height.

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

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index 08dafbb4..6d52dc40 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -299,6 +299,30 @@ public class AltosState implements Cloneable {
 		ground_altitude.set_measured(a, time);
 	}
 
+	class AltosGpsGroundAltitude extends AltosValue {
+		void set(double a, double t) {
+			super.set(a, t);
+			pad_alt = value();
+			gps_altitude.set_gps_height();
+		}
+
+		void set_filtered(double a, double t) {
+			super.set_filtered(a, t);
+			pad_alt = value();
+			gps_altitude.set_gps_height();
+		}
+	}
+
+	private AltosGpsGroundAltitude gps_ground_altitude;
+
+	public double gps_ground_altitude() {
+		return gps_ground_altitude.value();
+	}
+
+	public void set_gps_ground_altitude(double a) {
+		gps_ground_altitude.set(a, time);
+	}
+
 	class AltosGroundPressure extends AltosCValue {
 		void set_filtered(double p, double time) {
 			computed.set_filtered(p, time);
@@ -344,26 +368,56 @@ public class AltosState implements Cloneable {
 
 	private AltosAltitude	altitude;
 
+	class AltosGpsAltitude extends AltosValue {
+
+		private void set_gps_height() {
+			double	a = value();
+			double	g = gps_ground_altitude.value();
+
+			if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+				gps_height = a - g;
+			else
+				gps_height = AltosLib.MISSING;
+		}
+
+		void set(double a, double t) {
+			super.set(a, t);
+			set_gps_height();
+		}
+	}
+
+	private AltosGpsAltitude	gps_altitude;
+
 	public double altitude() {
 		double a = altitude.value();
 		if (a != AltosLib.MISSING)
 			return a;
-		if (gps != null)
-			return gps.alt;
-		return AltosLib.MISSING;
+		return gps_altitude.value();
 	}
 
 	public double max_altitude() {
 		double a = altitude.max();
 		if (a != AltosLib.MISSING)
 			return a;
-		return AltosLib.MISSING;
+		return gps_altitude.max();
 	}
 
 	public void set_altitude(double new_altitude) {
 		altitude.set_measured(new_altitude, time);
 	}
 
+	public double gps_altitude() {
+		return gps_altitude.value();
+	}
+
+	public double max_gps_altitude() {
+		return gps_altitude.max();
+	}
+
+	public void set_gps_altitude(double new_gps_altitude) {
+		gps_altitude.set(new_gps_altitude, time);
+	}
+
 	class AltosPressure extends AltosValue {
 		void set(double p, double time) {
 			super.set(p, time);
@@ -408,6 +462,24 @@ public class AltosState implements Cloneable {
 		return AltosLib.MISSING;
 	}
 
+	public double gps_height() {
+		double a = gps_altitude();
+		double g = gps_ground_altitude();
+
+		if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+			return a - g;
+		return AltosLib.MISSING;
+	}
+
+	public double max_gps_height() {
+		double a = gps_altitude.max();
+		double g = gps_ground_altitude();
+
+		if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+			return a - g;
+		return AltosLib.MISSING;
+	}
+
 	class AltosSpeed extends AltosCValue {
 		
 		void set_accel() {
@@ -608,6 +680,9 @@ public class AltosState implements Cloneable {
 		pad_lon = AltosLib.MISSING;
 		pad_alt = AltosLib.MISSING;
 
+		gps_altitude = new AltosGpsAltitude();
+		gps_ground_altitude = new AltosGpsGroundAltitude();
+
 		speak_tick = AltosLib.MISSING;
 		speak_altitude = AltosLib.MISSING;
 
@@ -730,6 +805,10 @@ public class AltosState implements Cloneable {
 		range = old.range;
 
 		gps_height = old.gps_height;
+
+		gps_altitude.copy(old.gps_altitude);
+		gps_ground_altitude.copy(old.gps_ground_altitude);
+
 		pad_lat = old.pad_lat;
 		pad_lon = old.pad_lon;
 		pad_alt = old.pad_alt;
@@ -771,14 +850,15 @@ public class AltosState implements Cloneable {
 				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;
+					gps_ground_altitude.set_filtered(gps.alt, time);
 				}
 			}
 			if (pad_lat == AltosLib.MISSING) {
 				pad_lat = gps.lat;
 				pad_lon = gps.lon;
-				pad_alt = gps.alt;
+				gps_ground_altitude.set(gps.alt, time);
 			}
+			gps_altitude.set(gps.alt, time);
 		}
 		if (gps.lat != 0 && gps.lon != 0 &&
 		    pad_lat != AltosLib.MISSING &&
@@ -791,7 +871,6 @@ public class AltosState implements Cloneable {
 			from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
 			elevation = from_pad.elevation;
 			range = from_pad.range;
-			gps_height = gps.alt - pad_alt;
 		}
 	}