Fix state updates

4 files changed, 76 insertions, 62 deletions

diff --git a/ao-tools/altosui/AltosGPS.java b/ao-tools/altosui/AltosGPS.java
index d242ad57..92a17018 100644
--- a/ao-tools/altosui/AltosGPS.java
+++ b/ao-tools/altosui/AltosGPS.java
@@ -111,6 +111,7 @@ public class AltosGPS {
 		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] = new AltosGPS.AltosGPSSat();
 			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/AltosState.java b/ao-tools/altosui/AltosState.java
index b3054ce9..aacddfdf 100644
--- a/ao-tools/altosui/AltosState.java
+++ b/ao-tools/altosui/AltosState.java
@@ -26,17 +26,17 @@ import altosui.AltosGPS;
 
 public class AltosState {
 	AltosTelemetry data;
-	AltosTelemetry prev_data;
 
 	/* derived data */
 
 	double  report_time;
 
+	double	time_change;
+	int	tick;
+
 	int	state;
 	boolean	ascent;	/* going up? */
 
-	double	time_change;
-
 	double	ground_altitude;
 	double	height;
 	double	speed;
@@ -56,9 +56,6 @@ public class AltosState {
 	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;
 
@@ -75,29 +72,18 @@ public class AltosState {
 		return System.currentTimeMillis() / 1000.0;
 	}
 
-	void init (AltosTelemetry cur, AltosTelemetry prev, int prev_npad) {
-		int	i;
-		double	new_height;
-		double	height_change;
+	void init (AltosTelemetry cur, AltosState prev_state) {
+		int		i;
+		AltosTelemetry prev;
 		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;
+
+		ground_altitude = AltosConvert.cc_barometer_to_altitude(data.ground_pres);
+		height = AltosConvert.cc_barometer_to_altitude(data.flight_pres) - ground_altitude;
 
 		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);
@@ -105,17 +91,46 @@ public class AltosState {
 		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);
+		tick = data.tick;
 		state = data.state();
+
+		if (prev_state != null) {
+
+			/* Preserve any existing gps data */
+			npad = prev_state.npad;
+			gps = prev_state.gps;
+			pad_lat = prev_state.pad_lat;
+			pad_lon = prev_state.pad_lon;
+			pad_alt = prev_state.pad_alt;
+
+			/* 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;
+			gps = null;
+			baro_speed = 0;
+			time_change = 0;
+		}
+
 		if (state == AltosTelemetry.ao_flight_pad) {
 			if (data.gps != null && 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;
+					/* 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;
@@ -135,7 +150,8 @@ public class AltosState {
 		if (height > max_height)
 			max_height = height;
 		if (data.gps != null) {
-			gps = data.gps;
+			if (gps == null || !gps.gps_locked || data.gps.gps_locked)
+				gps = data.gps;
 			if (npad > 0 && gps.gps_locked)
 				from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
 		}
@@ -147,16 +163,10 @@ public class AltosState {
 	}
 
 	public AltosState(AltosTelemetry cur) {
-		init(cur, cur, 0);
+		init(cur, null);
 	}
 
 	public AltosState (AltosTelemetry cur, AltosState prev) {
-		if (prev == null)
-			init(cur, cur, 0);
-		else {
-			init(cur, prev.data, prev.npad);
-			if (gps == null)
-				gps = prev.gps;
-		}
+		init(cur, prev);
 	}
 }
diff --git a/ao-tools/altosui/AltosTelemetry.java b/ao-tools/altosui/AltosTelemetry.java
index 34b4099f..e13b42e2 100644
--- a/ao-tools/altosui/AltosTelemetry.java
+++ b/ao-tools/altosui/AltosTelemetry.java
@@ -181,5 +181,6 @@ public class AltosTelemetry {
 		AltosParse.word(words[i++], "a-:");
 		accel_minus_g = AltosParse.parse_int(words[i++]);
 
+		gps = new AltosGPS(words, i);
 	}
 }
diff --git a/ao-tools/altosui/AltosUI.java b/ao-tools/altosui/AltosUI.java
index 66c75487..1c6fd699 100644
--- a/ao-tools/altosui/AltosUI.java
+++ b/ao-tools/altosui/AltosUI.java
@@ -214,7 +214,7 @@ public class AltosUI extends JFrame {
 		serialLine = new AltosSerial();
 		serialLine.monitor(new AltosUIMonitor());
 		int dpi = Toolkit.getDefaultToolkit().getScreenResolution();
-		this.setSize(new Dimension (infoValueMetrics.charWidth('0') * 6 * 15,
+		this.setSize(new Dimension (infoValueMetrics.charWidth('0') * 6 * 20,
 					    statusHeight * 4 + infoHeight * 17));
 		this.validate();
 		setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE);
@@ -292,22 +292,20 @@ public class AltosUI extends JFrame {
 		info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense);
 		info_add_row(0, "Main", "%9.2f V", state.main_sense);
 		info_add_row(0, "Pad altitude", "%6.0f    m", state.ground_altitude);
-		if (state.gps != null)
-			info_add_row(1, "Satellites", "%6d", state.gps.nsat);
-		else
-			info_add_row(1, "Satellites", "%6d", 0);
-		if (state.gps != null && state.gps.gps_locked) {
-			info_add_row(1, "GPS", "locked");
-		} else if (state.gps != null && state.gps.gps_connected) {
-			info_add_row(1, "GPS", "unlocked");
-		} else {
+		if (state.gps == null) {
 			info_add_row(1, "GPS", "not available");
-		}
-		if (state.gps != null) {
+		} else {
+			if (state.gps.gps_locked)
+				info_add_row(1, "GPS", "locked");
+			else if (state.gps.gps_connected)
+				info_add_row(1, "GPS", "unlocked");
+			else
+				info_add_row(1, "GPS", "missing");
+			info_add_row(1, "Satellites", "%6d", state.gps.nsat);
 			info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S');
 			info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W');
 			info_add_row(1, "GPS altitude", "%d", state.gps.alt);
-			info_add_row(1, "GPS height", "%d", state.gps_height);
+			info_add_row(1, "GPS height", "%6.0f", state.gps_height);
 			info_add_row(1, "GPS date", "%04d-%02d-%02d",
 				       state.gps.gps_time.year,
 				       state.gps.gps_time.month,
@@ -321,17 +319,21 @@ public class AltosUI extends JFrame {
 				       state.gps.course);
 			info_add_row(1, "GPS climb rate", "%7.1fm/s",
 				     state.gps.climb_rate);
-			info_add_row(1, "GPS precision", "%4.1f(hdop) %3dm(h) %3dm(v)",
-				     state.gps.hdop, state.gps.h_error, state.gps.v_error);
-		}
-		if (state.npad > 0) {
-			info_add_row(1, "Distance from pad", "%5.0fm", state.from_pad.distance);
-			info_add_row(1, "Direction from pad", "%4.0f°", state.from_pad.bearing);
-			info_add_deg(1, "Pad latitude", state.pad_lat, 'N', 'S');
-			info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W');
-			info_add_row(1, "Pad GPS alt", "%gm", state.pad_alt);
-		}
-		if (state.gps != null && state.gps.gps_connected) {
+			info_add_row(1, "GPS hdop", "%4.1f", state.gps.hdop);
+			info_add_row(1, "GPS error", "%3dm(h) %3dm(v)",
+				     state.gps.h_error, state.gps.v_error);
+			if (state.npad > 0) {
+				if (state.from_pad != null) {
+					info_add_row(1, "Distance from pad", "%5.0fm", state.from_pad.distance);
+					info_add_row(1, "Direction from pad", "%4.0f°", state.from_pad.bearing);
+				} else {
+					info_add_row(1, "Distance from pad", "unknown");
+					info_add_row(1, "Direction from pad", "unknown");
+				}
+				info_add_deg(1, "Pad latitude", state.pad_lat, 'N', 'S');
+				info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W');
+				info_add_row(1, "Pad GPS alt", "%gm", state.pad_alt);
+			}
 			int	nsat_vis = 0;
 			int	c;