Steal C code from ao-view

8 files changed, 837 insertions, 211 deletions

diff --git a/ao-tools/altosui/AltosConvert.java b/ao-tools/altosui/AltosConvert.java
new file mode 100644
index 00000000..3be0716c
--- /dev/null
+++ b/ao-tools/altosui/AltosConvert.java
@@ -0,0 +1,245 @@
+/*
+ * 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.
+ */
+
+/*
+ * Sensor data conversion functions
+ */
+package altosui;
+
+public class AltosConvert {
+	/*
+	 * Pressure Sensor Model, version 1.1
+	 *
+	 * written by Holly Grimes
+	 *
+	 * Uses the International Standard Atmosphere as described in
+	 *   "A Quick Derivation relating altitude to air pressure" (version 1.03)
+	 *    from the Portland State Aerospace Society, except that the atmosphere
+	 *    is divided into layers with each layer having a different lapse rate.
+	 *
+	 * Lapse rate data for each layer was obtained from Wikipedia on Sept. 1, 2007
+	 *    at site <http://en.wikipedia.org/wiki/International_Standard_Atmosphere
+	 *
+	 * Height measurements use the local tangent plane.  The postive z-direction is up.
+	 *
+	 * All measurements are given in SI units (Kelvin, Pascal, meter, meters/second^2).
+	 *   The lapse rate is given in Kelvin/meter, the gas constant for air is given
+	 *   in Joules/(kilogram-Kelvin).
+	 */
+
+	static final double GRAVITATIONAL_ACCELERATION = -9.80665;
+	static final double AIR_GAS_CONSTANT		= 287.053;
+	static final double NUMBER_OF_LAYERS		= 7;
+	static final double MAXIMUM_ALTITUDE		= 84852.0;
+	static final double MINIMUM_PRESSURE		= 0.3734;
+	static final double LAYER0_BASE_TEMPERATURE	= 288.15;
+	static final double LAYER0_BASE_PRESSURE	= 101325;
+
+	/* lapse rate and base altitude for each layer in the atmosphere */
+	static final double[] lapse_rate = {
+		-0.0065, 0.0, 0.001, 0.0028, 0.0, -0.0028, -0.002
+	};
+
+	static final int[] base_altitude = {
+		0, 11000, 20000, 32000, 47000, 51000, 71000
+	};
+
+	/* outputs atmospheric pressure associated with the given altitude.
+	 * altitudes are measured with respect to the mean sea level
+	 */
+	static double
+	cc_altitude_to_pressure(double altitude)
+	{
+		double base_temperature = LAYER0_BASE_TEMPERATURE;
+		double base_pressure = LAYER0_BASE_PRESSURE;
+
+		double pressure;
+		double base; /* base for function to determine pressure */
+		double exponent; /* exponent for function to determine pressure */
+		int layer_number; /* identifies layer in the atmosphere */
+		double delta_z; /* difference between two altitudes */
+
+		if (altitude > MAXIMUM_ALTITUDE) /* FIX ME: use sensor data to improve model */
+			return 0;
+
+		/* calculate the base temperature and pressure for the atmospheric layer
+		   associated with the inputted altitude */
+		for(layer_number = 0; layer_number < NUMBER_OF_LAYERS - 1 && altitude > base_altitude[layer_number + 1]; layer_number++) {
+			delta_z = base_altitude[layer_number + 1] - base_altitude[layer_number];
+			if (lapse_rate[layer_number] == 0.0) {
+				exponent = GRAVITATIONAL_ACCELERATION * delta_z
+					/ AIR_GAS_CONSTANT / base_temperature;
+				base_pressure *= Math.exp(exponent);
+			}
+			else {
+				base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+				exponent = GRAVITATIONAL_ACCELERATION /
+					(AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+				base_pressure *= Math.pow(base, exponent);
+			}
+			base_temperature += delta_z * lapse_rate[layer_number];
+		}
+
+		/* calculate the pressure at the inputted altitude */
+		delta_z = altitude - base_altitude[layer_number];
+		if (lapse_rate[layer_number] == 0.0) {
+			exponent = GRAVITATIONAL_ACCELERATION * delta_z
+				/ AIR_GAS_CONSTANT / base_temperature;
+			pressure = base_pressure * Math.exp(exponent);
+		}
+		else {
+			base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+			exponent = GRAVITATIONAL_ACCELERATION /
+				(AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+			pressure = base_pressure * Math.pow(base, exponent);
+		}
+
+		return pressure;
+	}
+
+
+/* outputs the altitude associated with the given pressure. the altitude
+   returned is measured with respect to the mean sea level */
+	static double
+	cc_pressure_to_altitude(double pressure)
+	{
+
+		double next_base_temperature = LAYER0_BASE_TEMPERATURE;
+		double next_base_pressure = LAYER0_BASE_PRESSURE;
+
+		double altitude;
+		double base_pressure;
+		double base_temperature;
+		double base; /* base for function to determine base pressure of next layer */
+		double exponent; /* exponent for function to determine base pressure
+				    of next layer */
+		double coefficient;
+		int layer_number; /* identifies layer in the atmosphere */
+		int delta_z; /* difference between two altitudes */
+
+		if (pressure < 0)  /* illegal pressure */
+			return -1;
+		if (pressure < MINIMUM_PRESSURE) /* FIX ME: use sensor data to improve model */
+			return MAXIMUM_ALTITUDE;
+
+		/* calculate the base temperature and pressure for the atmospheric layer
+		   associated with the inputted pressure. */
+		layer_number = -1;
+		do {
+			layer_number++;
+			base_pressure = next_base_pressure;
+			base_temperature = next_base_temperature;
+			delta_z = base_altitude[layer_number + 1] - base_altitude[layer_number];
+			if (lapse_rate[layer_number] == 0.0) {
+				exponent = GRAVITATIONAL_ACCELERATION * delta_z
+					/ AIR_GAS_CONSTANT / base_temperature;
+				next_base_pressure *= Math.exp(exponent);
+			}
+			else {
+				base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+				exponent = GRAVITATIONAL_ACCELERATION /
+					(AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+				next_base_pressure *= Math.pow(base, exponent);
+			}
+			next_base_temperature += delta_z * lapse_rate[layer_number];
+		}
+		while(layer_number < NUMBER_OF_LAYERS - 1 && pressure < next_base_pressure);
+
+		/* calculate the altitude associated with the inputted pressure */
+		if (lapse_rate[layer_number] == 0.0) {
+			coefficient = (AIR_GAS_CONSTANT / GRAVITATIONAL_ACCELERATION)
+				* base_temperature;
+			altitude = base_altitude[layer_number]
+				+ coefficient * Math.log(pressure / base_pressure);
+		}
+		else {
+			base = pressure / base_pressure;
+			exponent = AIR_GAS_CONSTANT * lapse_rate[layer_number]
+				/ GRAVITATIONAL_ACCELERATION;
+			coefficient = base_temperature / lapse_rate[layer_number];
+			altitude = base_altitude[layer_number]
+				+ coefficient * (Math.pow(base, exponent) - 1);
+		}
+
+		return altitude;
+	}
+
+	/*
+	 * Values for our MP3H6115A pressure sensor
+	 *
+	 * From the data sheet:
+	 *
+	 * Pressure range: 15-115 kPa
+	 * Voltage at 115kPa: 2.82
+	 * Output scale: 27mV/kPa
+	 *
+	 *
+	 * 27 mV/kPa * 2047 / 3300 counts/mV = 16.75 counts/kPa
+	 * 2.82V * 2047 / 3.3 counts/V = 1749 counts/115 kPa
+	 */
+
+	static final double counts_per_kPa = 27 * 2047 / 3300;
+	static final double counts_at_101_3kPa = 1674.0;
+
+	static double
+	cc_barometer_to_pressure(double count)
+	{
+		return ((count / 16.0) / 2047.0 + 0.095) / 0.009 * 1000.0;
+	}
+
+	static double
+	cc_barometer_to_altitude(double baro)
+	{
+		double Pa = cc_barometer_to_pressure(baro);
+		return cc_pressure_to_altitude(Pa);
+	}
+
+	static final double count_per_mss = 27.0;
+
+	static double
+	cc_accelerometer_to_acceleration(double accel, double ground_accel)
+	{
+		return (ground_accel - accel) / count_per_mss;
+	}
+
+	/* Value for the CC1111 built-in temperature sensor
+	 * Output voltage at 0°C = 0.755V
+	 * Coefficient = 0.00247V/°C
+	 * Reference voltage = 1.25V
+	 *
+	 * temp = ((value / 32767) * 1.25 - 0.755) / 0.00247
+	 *      = (value - 19791.268) / 32768 * 1.25 / 0.00247
+	 */
+
+	static double
+	cc_thermometer_to_temperature(double thermo)
+	{
+		return (thermo - 19791.268) / 32728.0 * 1.25 / 0.00247;
+	}
+
+	static double
+	cc_battery_to_voltage(double battery)
+	{
+		return battery / 32767.0 * 5.0;
+	}
+
+	static double
+	cc_ignitor_to_voltage(double ignite)
+	{
+		return ignite / 32767 * 15.0;
+	}
+}
diff --git a/ao-tools/altosui/AltosGPS.java b/ao-tools/altosui/AltosGPS.java
new file mode 100644
index 00000000..d242ad57
--- /dev/null
+++ b/ao-tools/altosui/AltosGPS.java
@@ -0,0 +1,118 @@
+/*
+ * 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.
+ */
+
+package altosui;
+
+import java.lang.*;
+import java.text.*;
+import altosui.AltosParse;
+
+
+public class AltosGPS {
+	public class AltosGPSTime {
+		int year;
+		int month;
+		int day;
+		int hour;
+		int minute;
+		int second;
+
+		public AltosGPSTime(String date, String time) throws ParseException {
+			String[] ymd = date.split("-");
+			if (ymd.length != 3)
+				throw new ParseException("error parsing GPS date " + date + " got " + ymd.length, 0);
+			year = AltosParse.parse_int(ymd[0]);
+			month = AltosParse.parse_int(ymd[1]);
+			day = AltosParse.parse_int(ymd[2]);
+
+			String[] hms = time.split(":");
+			if (hms.length != 3)
+				throw new ParseException("Error parsing GPS time " + time + " got " + hms.length, 0);
+			hour = AltosParse.parse_int(hms[0]);
+			minute = AltosParse.parse_int(hms[1]);
+			second = AltosParse.parse_int(hms[2]);
+		}
+
+		public AltosGPSTime() {
+			year = month = day = 0;
+			hour = minute = second = 0;
+		}
+
+	}
+
+	public class AltosGPSSat {
+		int	svid;
+		int	c_n0;
+	}
+
+	int	nsat;
+	boolean	gps_locked;
+	boolean	gps_connected;
+	AltosGPSTime gps_time;
+	double	lat;		/* degrees (+N -S) */
+	double	lon;		/* degrees (+E -W) */
+	int	alt;		/* m */
+
+	int	gps_extended;	/* has extra data */
+	double	ground_speed;	/* m/s */
+	int	course;		/* degrees */
+	double	climb_rate;	/* m/s */
+	double	hdop;		/* unitless? */
+	int	h_error;	/* m */
+	int	v_error;	/* m */
+
+	AltosGPSSat[] cc_gps_sat;	/* tracking data */
+
+	public AltosGPS(String[] words, int i) throws ParseException {
+		AltosParse.word(words[i++], "GPS");
+		nsat = AltosParse.parse_int(words[i++]);
+		AltosParse.word(words[i++], "sat");
+
+		gps_connected = false;
+		gps_locked = false;
+		lat = lon = 0;
+		alt = 0;
+		if ((words[i]).equals("unlocked")) {
+			gps_connected = true;
+			gps_time = new AltosGPSTime();
+			i++;
+		} else if (words.length >= 40) {
+			gps_locked = true;
+			gps_connected = true;
+
+			gps_time = new AltosGPSTime(words[i], words[i+1]); i += 2;
+			lat = AltosParse.parse_coord(words[i++]);
+			lon = AltosParse.parse_coord(words[i++]);
+			alt = AltosParse.parse_int(AltosParse.strip_suffix(words[i++], "m"));
+			ground_speed = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(H)"));
+			course = AltosParse.parse_int(AltosParse.strip_suffix(words[i++], "°"));
+			climb_rate = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(V)"));
+			hdop = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "(hdop)"));
+			h_error = AltosParse.parse_int(AltosParse.strip_suffix(words[i++], "(herr)"));
+			v_error = AltosParse.parse_int(AltosParse.strip_suffix(words[i++], "(verr)"));
+		} else {
+			gps_time = new AltosGPSTime();
+		}
+		AltosParse.word(words[i++], "SAT");
+		int tracking_channels = AltosParse.parse_int(words[i++]);
+		cc_gps_sat = new AltosGPS.AltosGPSSat[tracking_channels];
+		for (int chan = 0; chan < tracking_channels; chan++) {
+			cc_gps_sat[chan].svid = AltosParse.parse_int(words[i++]);
+			cc_gps_sat[chan].c_n0 = AltosParse.parse_int(words[i++]);
+		}
+	}
+}
diff --git a/ao-tools/altosui/AltosGreatCircle.java b/ao-tools/altosui/AltosGreatCircle.java
new file mode 100644
index 00000000..878da03e
--- /dev/null
+++ b/ao-tools/altosui/AltosGreatCircle.java
@@ -0,0 +1,66 @@
+/*
+ * 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.
+ */
+
+package altosui;
+
+import java.lang.Math;
+
+public class AltosGreatCircle {
+	double	distance;
+	double	bearing;
+
+	double sqr(double a) { return a * a; }
+
+	static final double rad = Math.PI / 180;
+	static final double earth_radius = 6371.2 * 1000;	/* in meters */
+
+	AltosGreatCircle (double start_lat, double start_lon,
+			  double end_lat, double end_lon)
+	{
+		double lat1 = rad * start_lat;
+		double lon1 = rad * -start_lon;
+		double lat2 = rad * end_lat;
+		double lon2 = rad * -end_lon;
+
+		double d_lon = lon2 - lon1;
+
+		/* From http://en.wikipedia.org/wiki/Great-circle_distance */
+		double vdn = Math.sqrt(sqr(Math.cos(lat2) * Math.sin(d_lon)) +
+				       sqr(Math.cos(lat1) * Math.sin(lat2) -
+					   Math.sin(lat1) * Math.cos(lat2) * Math.cos(d_lon)));
+		double vdd = Math.sin(lat1) * Math.sin(lat2) + Math.cos(lat1) * Math.cos(lat2) * Math.cos(d_lon);
+		double d = Math.atan2(vdn,vdd);
+		double course;
+
+		if (Math.cos(lat1) < 1e-20) {
+			if (lat1 > 0)
+				course = Math.PI;
+			else
+				course = -Math.PI;
+		} else {
+			if (d < 1e-10)
+				course = 0;
+			else
+				course = Math.acos((Math.sin(lat2)-Math.sin(lat1)*Math.cos(d)) /
+						   (Math.sin(d)*Math.cos(lat1)));
+			if (Math.sin(lon2-lon1) > 0)
+				course = 2 * Math.PI-course;
+		}
+		distance = d * earth_radius;
+		bearing = course * 180/Math.PI;
+	}
+}
diff --git a/ao-tools/altosui/AltosParse.java b/ao-tools/altosui/AltosParse.java
new file mode 100644
index 00000000..a60dc694
--- /dev/null
+++ b/ao-tools/altosui/AltosParse.java
@@ -0,0 +1,75 @@
+/*
+ * 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.
+ */
+
+package altosui;
+
+import java.text.*;
+import java.lang.*;
+
+public class AltosParse {
+	static int parse_int(String v) throws ParseException {
+		try {
+			return Integer.parseInt(v);
+		} catch (NumberFormatException e) {
+			throw new ParseException("error parsing int " + v, 0);
+		}
+	}
+
+	static int parse_hex(String v) throws ParseException {
+		try {
+			return Integer.parseInt(v, 16);
+		} catch (NumberFormatException e) {
+			throw new ParseException("error parsing hex " + v, 0);
+		}
+	}
+
+	static double parse_double(String v) throws ParseException {
+		try {
+			return Double.parseDouble(v);
+		} catch (NumberFormatException e) {
+			throw new ParseException("error parsing double " + v, 0);
+		}
+	}
+
+	static double parse_coord(String coord) throws ParseException {
+		String[]	dsf = coord.split("\\D+");
+
+		if (dsf.length != 3) {
+			throw new ParseException("error parsing coord " + coord, 0);
+		}
+		int deg = parse_int(dsf[0]);
+		int min = parse_int(dsf[1]);
+		int frac = parse_int(dsf[2]);
+
+		double r = deg + (min + frac / 10000.0) / 60.0;
+		if (coord.endsWith("S") || coord.endsWith("W"))
+			r = -r;
+		return r;
+	}
+
+	static String strip_suffix(String v, String suffix) {
+		if (v.endsWith(suffix))
+			return v.substring(0, v.length() - suffix.length());
+		return v;
+	}
+
+	static void word(String v, String m) throws ParseException {
+		if (!v.equals(m)) {
+			throw new ParseException("error matching '" + v + "' '" + m + "'", 0);
+		}
+	}
+}
diff --git a/ao-tools/altosui/AltosState.java b/ao-tools/altosui/AltosState.java
new file mode 100644
index 00000000..da465c75
--- /dev/null
+++ b/ao-tools/altosui/AltosState.java
@@ -0,0 +1,166 @@
+/*
+ * 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 data stream
+ */
+
+package altosui;
+
+import altosui.AltosTelemetry;
+import altosui.AltosGPS;
+
+public class AltosState {
+	AltosTelemetry data;
+	AltosTelemetry prev_data;
+
+	/* derived data */
+
+	double  report_time;
+
+	int	state;
+	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;
+	AltosGPSTracking	gps_tracking;
+
+	boolean	gps_valid;
+	double	pad_lat;
+	double	pad_lon;
+	double	pad_alt;
+	double	pad_lat_total;
+	double	pad_lon_total;
+	double	pad_alt_total;
+	int	npad;
+	int	prev_npad;
+
+	AltosGreatCircle from_pad;
+
+	double	gps_height;
+
+	int	speak_tick;
+	double	speak_altitude;
+
+	static double
+	aoview_time()
+	{
+		return System.currentTimeMillis() / 1000.0;
+	}
+
+	public AltosState (AltosTelemetry cur, AltosTelemetry prev, int prev_npad) {
+		int	i;
+		double	new_height;
+		double	height_change;
+		double	time_change;
+		double	accel_counts_per_mss;
+		int	tick_count;
+
+		data = cur;
+		prev_data = prev;
+		npad = prev_npad;
+		tick_count = data.tick;
+		if (tick_count < prev_data.tick)
+			tick_count += 65536;
+		time_change = (tick_count - prev_data.tick) / 100.0;
+
+		report_time = aoview_time();
+
+		ground_altitude = AltosConvert.cc_pressure_to_altitude(data.ground_pres);
+		new_height = AltosConvert.cc_pressure_to_altitude(data.flight_pres) - ground_altitude;
+		height_change = new_height - height;
+		height = new_height;
+		if (time_change > 0)
+			baro_speed = (baro_speed * 3 + (height_change / time_change)) / 4.0;
+		accel_counts_per_mss = ((data.accel_minus_g - data.accel_plus_g) / 2.0) / 9.80665;
+		acceleration = (data.ground_accel - data.flight_accel) / accel_counts_per_mss;
+		speed = data.flight_vel / (accel_counts_per_mss * 100.0);
+		temperature = AltosConvert.cc_thermometer_to_temperature(data.temp);
+		drogue_sense = AltosConvert.cc_ignitor_to_voltage(data.drogue);
+		main_sense = AltosConvert.cc_ignitor_to_voltage(data.main);
+		battery = AltosConvert.cc_battery_to_voltage(data.batt);
+		state = data.state();
+		if (state == AltosTelemetry.ao_flight_pad) {
+			if (data.gps.gps_locked && data.gps.nsat >= 4) {
+				npad++;
+				pad_lat_total += data.gps.lat;
+				pad_lon_total += data.gps.lon;
+				pad_alt_total += data.gps.alt;
+				if (npad > 1) {
+					pad_lat = (pad_lat * 31 + data.gps.lat) / 32.0;
+					pad_lon = (pad_lon * 31 + data.gps.lon) / 32.0;
+					pad_alt = (pad_alt * 31 + data.gps.alt) / 32.0;
+				} else {
+					pad_lat = data.gps.lat;
+					pad_lon = data.gps.lon;
+					pad_alt = data.gps.alt;
+				}
+			}
+		}
+		ascent = (AltosTelemetry.ao_flight_boost <= state &&
+			  state <= AltosTelemetry.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;
+		gps.gps_locked = data.gps.gps_locked;
+		gps.gps_connected = data.gps.gps_connected;
+		if (data.gps.gps_locked) {
+			gps = data.gps;
+			gps_valid = true;
+			if (npad > 0)
+				from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
+		}
+		if (npad > 0) {
+			gps_height = gps.alt - pad_alt;
+		} else {
+			gps_height = 0;
+		}
+	}
+
+	public AltosState(AltosTelemetry cur) {
+		this(cur, cur, 0);
+	}
+
+	public AltosState (AltosTelemetry cur, AltosState prev) {
+		this(cur, prev.data, prev.npad);
+		if (gps == null) {
+			gps = prev.gps;
+			gps_valid = prev.gps_valid;
+		}
+		if (gps_tracking == null)
+			gps_tracking = prev.gps_tracking;
+	}
+}
diff --git a/ao-tools/altosui/AltosTelemetry.java b/ao-tools/altosui/AltosTelemetry.java
index 99e82bbf..34b4099f 100644
--- a/ao-tools/altosui/AltosTelemetry.java
+++ b/ao-tools/altosui/AltosTelemetry.java
@@ -19,77 +19,14 @@ package altosui;
 
 import java.lang.*;
 import java.text.*;
+import java.util.HashMap;
+import altosui.AltosConvert;
+import altosui.AltosGPS;
 
 /*
  * Telemetry data contents
  */
 
-class AltosGPSTime {
-	int year;
-	int month;
-	int day;
-	int hour;
-	int minute;
-	int second;
-
-	int parse_int(String v) throws ParseException {
-		try {
-			return Integer.parseInt(v);
-		} catch (NumberFormatException e) {
-			throw new ParseException("error parsing GPS value " + v, 0);
-		}
-	}
-
-	public AltosGPSTime(String date, String time) throws ParseException {
-		String[] ymd = date.split("-");
-		if (ymd.length != 3)
-			throw new ParseException("error parsing GPS date " + date + " got " + ymd.length, 0);
-		year = parse_int(ymd[0]);
-		month = parse_int(ymd[1]);
-		day = parse_int(ymd[2]);
-
-		String[] hms = time.split(":");
-		if (hms.length != 3)
-			throw new ParseException("Error parsing GPS time " + time + " got " + hms.length, 0);
-		hour = parse_int(hms[0]);
-		minute = parse_int(hms[1]);
-		second = parse_int(hms[2]);
-	}
-
-	public AltosGPSTime() {
-		year = month = day = 0;
-		hour = minute = second = 0;
-	}
-};
-
-class AltosGPS {
-	int	nsat;
-	int	gps_locked;
-	int	gps_connected;
-	AltosGPSTime gps_time;
-	double	lat;		/* degrees (+N -S) */
-	double	lon;		/* degrees (+E -W) */
-	int	alt;		/* m */
-
-	int	gps_extended;	/* has extra data */
-	double	ground_speed;	/* m/s */
-	int	course;		/* degrees */
-	double	climb_rate;	/* m/s */
-	double	hdop;		/* unitless? */
-	int	h_error;	/* m */
-	int	v_error;	/* m */
-
-}
-
-class AltosGPSSat {
-	int	svid;
-	int	c_n0;
-}
-
-class AltosGPSTracking {
-	int			channels;
-	AltosGPSSat[]		cc_gps_sat;
-}
 
 /*
  * The telemetry data stream is a bit of a mess at present, with no consistent
@@ -137,58 +74,44 @@ public class AltosTelemetry {
 	int	accel_plus_g;
 	int	accel_minus_g;
 	AltosGPS	gps;
-	AltosGPSTracking	gps_tracking;
-
-	int parse_int(String v) throws ParseException {
-		try {
-			return Integer.parseInt(v);
-		} catch (NumberFormatException e) {
-			throw new ParseException("error parsing int " + v, 0);
-		}
-	}
 
-	int parse_hex(String v) throws ParseException {
-		try {
-			return Integer.parseInt(v, 16);
-		} catch (NumberFormatException e) {
-			throw new ParseException("error parsing hex " + v, 0);
-		}
+	public static final int ao_flight_startup = 0;
+	public static final int ao_flight_idle = 1;
+	public static final int ao_flight_pad = 2;
+	public static final int ao_flight_boost = 3;
+	public static final int ao_flight_fast = 4;
+	public static final int ao_flight_coast = 5;
+	public static final int ao_flight_drogue = 6;
+	public static final int ao_flight_main = 7;
+	public static final int ao_flight_landed = 8;
+	public static final int ao_flight_invalid = 9;
+
+	static HashMap<String,Integer>	states = new HashMap<String,Integer>();
+	{
+		states.put("startup", ao_flight_startup);
+		states.put("idle", ao_flight_idle);
+		states.put("pad", ao_flight_pad);
+		states.put("boost", ao_flight_boost);
+		states.put("fast", ao_flight_fast);
+		states.put("coast", ao_flight_coast);
+		states.put("drogue", ao_flight_drogue);
+		states.put("main", ao_flight_main);
+		states.put("landed", ao_flight_landed);
+		states.put("invalid", ao_flight_invalid);
 	}
 
-	double parse_double(String v) throws ParseException {
-		try {
-			return Double.parseDouble(v);
-		} catch (NumberFormatException e) {
-			throw new ParseException("error parsing double " + v, 0);
-		}
-	}
-
-	double parse_coord(String coord) throws ParseException {
-		String[]	dsf = coord.split("\\D+");
-
-		if (dsf.length != 3) {
-			throw new ParseException("error parsing coord " + coord, 0);
-		}
-		int deg = parse_int(dsf[0]);
-		int min = parse_int(dsf[1]);
-		int frac = parse_int(dsf[2]);
-
-		double r = deg + (min + frac / 10000.0) / 60.0;
-		if (coord.endsWith("S") || coord.endsWith("W"))
-			r = -r;
-		return r;
+	public int state() {
+		if (states.containsKey(state))
+			return states.get(state);
+		return ao_flight_invalid;
 	}
 
-	String strip_suffix(String v, String suffix) {
-		if (v.endsWith(suffix))
-			return v.substring(0, v.length() - suffix.length());
-		return v;
+	public double altitude() {
+		return AltosConvert.cc_pressure_to_altitude(AltosConvert.cc_barometer_to_pressure(pres));
 	}
 
-	void word(String v, String m) throws ParseException {
-		if (!v.equals(m)) {
-			throw new ParseException("error matching '" + v + "' '" + m + "'", 0);
-		}
+	public double pad_altitude() {
+		return AltosConvert.cc_pressure_to_altitude(AltosConvert.cc_barometer_to_pressure(ground_pres));
 	}
 
 	public AltosTelemetry(String line) throws ParseException {
@@ -196,106 +119,67 @@ public class AltosTelemetry {
 
 		int	i = 0;
 
-		word (words[i++], "VERSION");
-		version = parse_int(words[i++]);
+		AltosParse.word (words[i++], "VERSION");
+		version = AltosParse.parse_int(words[i++]);
 
-		word (words[i++], "CALL");
+		AltosParse.word (words[i++], "CALL");
 		callsign = words[i++];
 
-		word (words[i++], "SERIAL");
-		serial = parse_int(words[i++]);
+		AltosParse.word (words[i++], "SERIAL");
+		serial = AltosParse.parse_int(words[i++]);
 
-		word (words[i++], "FLIGHT");
-		flight = parse_int(words[i++]);
+		AltosParse.word (words[i++], "FLIGHT");
+		flight = AltosParse.parse_int(words[i++]);
 
-		word(words[i++], "RSSI");
-		rssi = parse_int(words[i++]);
+		AltosParse.word(words[i++], "RSSI");
+		rssi = AltosParse.parse_int(words[i++]);
 
-		word(words[i++], "STATUS");
-		status = parse_hex(words[i++]);
+		AltosParse.word(words[i++], "STATUS");
+		status = AltosParse.parse_hex(words[i++]);
 
-		word(words[i++], "STATE");
+		AltosParse.word(words[i++], "STATE");
 		state = words[i++];
 
-		tick = parse_int(words[i++]);
-
-		word(words[i++], "a:");
-		accel = parse_int(words[i++]);
-
-		word(words[i++], "p:");
-		pres = parse_int(words[i++]);
-
-		word(words[i++], "t:");
-		temp = parse_int(words[i++]);
-
-		word(words[i++], "v:");
-		batt = parse_int(words[i++]);
-
-		word(words[i++], "d:");
-		drogue = parse_int(words[i++]);
-
-		word(words[i++], "m:");
-		main = parse_int(words[i++]);
-
-		word(words[i++], "fa:");
-		flight_accel = parse_int(words[i++]);
-
-		word(words[i++], "ga:");
-		ground_accel = parse_int(words[i++]);
-
-		word(words[i++], "fv:");
-		flight_vel = parse_int(words[i++]);
-
-		word(words[i++], "fp:");
-		flight_pres = parse_int(words[i++]);
-
-		word(words[i++], "gp:");
-		ground_pres = parse_int(words[i++]);
-
-		word(words[i++], "a+:");
-		accel_plus_g = parse_int(words[i++]);
-
-		word(words[i++], "a-:");
-		accel_minus_g = parse_int(words[i++]);
-
-		word(words[i++], "GPS");
-		gps = new AltosGPS();
-		gps.nsat = parse_int(words[i++]);
-		word(words[i++], "sat");
-
-		gps.gps_connected = 0;
-		gps.gps_locked = 0;
-		gps.lat = gps.lon = 0;
-		gps.alt = 0;
-		if ((words[i]).equals("unlocked")) {
-			gps.gps_connected = 1;
-			gps.gps_time = new AltosGPSTime();
-			i++;
-		} else if (words.length >= 40) {
-			gps.gps_locked = 1;
-			gps.gps_connected = 1;
-
-			gps.gps_time = new AltosGPSTime(words[i], words[i+1]); i += 2;
-			gps.lat = parse_coord(words[i++]);
-			gps.lon = parse_coord(words[i++]);
-			gps.alt = parse_int(strip_suffix(words[i++], "m"));
-			gps.ground_speed = parse_double(strip_suffix(words[i++], "m/s(H)"));
-			gps.course = parse_int(strip_suffix(words[i++], "°"));
-			gps.climb_rate = parse_double(strip_suffix(words[i++], "m/s(V)"));
-			gps.hdop = parse_double(strip_suffix(words[i++], "(hdop)"));
-			gps.h_error = parse_int(strip_suffix(words[i++], "(herr)"));
-			gps.v_error = parse_int(strip_suffix(words[i++], "(verr)"));
-		} else {
-			gps.gps_time = new AltosGPSTime();
-		}
-		word(words[i++], "SAT");
-		gps_tracking = new AltosGPSTracking();
-		gps_tracking.channels = parse_int(words[i++]);
-		gps_tracking.cc_gps_sat = new AltosGPSSat[gps_tracking.channels];
-		for (int chan = 0; chan < gps_tracking.channels; chan++) {
-			gps_tracking.cc_gps_sat[chan] = new AltosGPSSat();
-			gps_tracking.cc_gps_sat[chan].svid = parse_int(words[i++]);
-			gps_tracking.cc_gps_sat[chan].c_n0 = parse_int(words[i++]);
-		}
+		tick = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "a:");
+		accel = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "p:");
+		pres = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "t:");
+		temp = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "v:");
+		batt = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "d:");
+		drogue = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "m:");
+		main = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "fa:");
+		flight_accel = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "ga:");
+		ground_accel = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "fv:");
+		flight_vel = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "fp:");
+		flight_pres = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "gp:");
+		ground_pres = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "a+:");
+		accel_plus_g = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "a-:");
+		accel_minus_g = AltosParse.parse_int(words[i++]);
+
 	}
 }
diff --git a/ao-tools/altosui/AltosUI.java b/ao-tools/altosui/AltosUI.java
index 89eaac15..21c3e7a2 100644
--- a/ao-tools/altosui/AltosUI.java
+++ b/ao-tools/altosui/AltosUI.java
@@ -20,6 +20,8 @@ package altosui;
 import java.awt.*;
 import java.awt.event.*;
 import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.AbstractTableModel;
 import java.io.*;
 import java.util.*;
 import java.text.*;
@@ -27,6 +29,8 @@ import gnu.io.CommPortIdentifier;
 
 import altosui.AltosSerial;
 import altosui.AltosSerialMonitor;
+import altosui.AltosTelemetry;
+import altosui.AltosState;
 
 class AltosUIMonitor implements AltosSerialMonitor {
 	public void data(String data) {
@@ -34,6 +38,32 @@ class AltosUIMonitor implements AltosSerialMonitor {
 	}
 }
 
+class AltosFlightStatusTableModel extends AbstractTableModel {
+	private String[] columnNames = {"Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
+	private Object[] data = { 0, "idle", 0, 0 };
+
+	public int getColumnCount() { return columnNames.length; }
+	public int getRowCount() { return 1; }
+	public String getColumnName(int col) { return columnNames[col]; }
+	public Object getValueAt(int row, int col) { return data[col]; }
+
+	public void setValueAt(Object value, int col) {
+		data[col] = value;
+		fireTableCellUpdated(0, col);
+	}
+
+	public void setValueAt(Object value, int row, int col) {
+		setValueAt(value, col);
+	}
+
+	public void set(AltosState state) {
+		setValueAt(state.height, 0);
+		setValueAt(state.data.state, 1);
+		setValueAt(state.data.rssi, 2);
+		setValueAt(state.speed, 3);
+	}
+}
+
 public class AltosUI extends JFrame {
 	private int channel = -1;
 
@@ -71,6 +101,31 @@ public class AltosUI extends JFrame {
 	}
 
 	final JFileChooser deviceChooser = new JFileChooser();
+	final JFileChooser logdirChooser = new JFileChooser();
+	final String logdirName = "TeleMetrum";
+	File logdir = null;
+
+	private void setLogdir() {
+		if (logdir == null)
+			logdir = new File(logdirChooser.getCurrentDirectory(), logdirName);
+		logdirChooser.setCurrentDirectory(logdir);
+	}
+
+	private void makeLogdir() {
+		setLogdir();
+		if (!logdir.exists()) {
+			if (!logdir.mkdirs())
+				JOptionPane.showMessageDialog(AltosUI.this,
+							      logdir.getName(),
+							      "Cannot create directory",
+							      JOptionPane.ERROR_MESSAGE);
+		} else if (!logdir.isDirectory()) {
+			JOptionPane.showMessageDialog(AltosUI.this,
+						      logdir.getName(),
+						      "Is not a directory",
+						      JOptionPane.ERROR_MESSAGE);
+		}
+	}
 
 	private void PickSerialDevice() {
 		java.util.Enumeration<CommPortIdentifier> port_list = CommPortIdentifier.getPortIdentifiers();
@@ -111,16 +166,23 @@ public class AltosUI extends JFrame {
 		return null;
 	}
 
+	/*
+	 * Open an existing telemetry file and replay it in realtime
+	 */
+
 	private void Replay() {
-//		int returnVal = deviceChooser.showOpenDialog(AltosUI.this);
+		setLogdir();
+		logdirChooser.setDialogTitle("Select Telemetry File");
+		logdirChooser.setFileFilter(new FileNameExtensionFilter("Telemetry file", "telem"));
+		int returnVal = logdirChooser.showOpenDialog(AltosUI.this);
 
-		/*		if (returnVal == JFileChooser.APPROVE_OPTION) */ {
-//			File file = deviceChooser.getSelectedFile();
-//			String	filename = file.getName();
-			String	filename = "/home/keithp/src/cc1111/flights/2010-02-13-serial-051-flight-002.telem";
+		if (returnVal == JFileChooser.APPROVE_OPTION) {
+			File file = logdirChooser.getSelectedFile();
+			if (file == null)
+				System.out.println("No file selected?");
+			String	filename = file.getName();
 			try {
-//				FileInputStream	replay = new FileInputStream(file);
-				FileInputStream	replay = new FileInputStream(filename);
+				FileInputStream	replay = new FileInputStream(file);
 				String	line;
 
 				try {
diff --git a/ao-tools/altosui/Makefile b/ao-tools/altosui/Makefile
index 090911ef..1fb964d6 100644
--- a/ao-tools/altosui/Makefile
+++ b/ao-tools/altosui/Makefile
@@ -1,7 +1,17 @@
 .SUFFIXES: .java .class
 
 CLASSPATH=..:/usr/share/java/*
-CLASSFILES=AltosSerialMonitor.class AltosSerial.class AltosTelemetry.class AltosUI.class
+CLASSFILES=\
+	AltosConvert.class \
+	AltosGPS.class \
+	AltosGreatCircle.class \
+	AltosParse.class \
+	AltosSerialMonitor.class \
+	AltosSerial.class \
+	AltosState.class \
+	AltosTelemetry.class \
+	AltosUI.class
+
 JAVAFLAGS=-Xlint:unchecked
 
 all: $(CLASSFILES) altosui