altosui: Support MM telemetry packets

Required restructuring the whole telemetry system to provide abstract
interfaces to flight data.

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

1 files changed, 186 insertions, 0 deletions

diff --git a/altoslib/AltosRecordMM.java b/altoslib/AltosRecordMM.java
new file mode 100644
index 00000000..8b3d745a
--- /dev/null
+++ b/altoslib/AltosRecordMM.java
@@ -0,0 +1,186 @@
+/*
+ * Copyright © 2012 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 org.altusmetrum.AltosLib;
+
+public class AltosRecordMM extends AltosRecord {
+
+	public int	accel;
+	public int	pres;
+	public int	temp;
+	
+	public int	v_batt;
+	public int	v_pyro;
+	public int	sense[];
+
+	public int      ground_accel;
+	public int      ground_pres;
+	public int      accel_plus_g;
+	public int      accel_minus_g;
+
+	public int	flight_accel;
+	public int	flight_vel;
+	public int	flight_pres;
+
+	public final static int	num_sense = 6;
+
+	public AltosIMU	imu;
+	public AltosMag	mag;
+
+	static double adc(int raw) {
+		return raw / 4095.0;
+	}
+
+	public double raw_pressure() {
+		if (pres != MISSING)
+			return pres / 100.0;
+		return MISSING;
+	}
+
+	public double filtered_pressure() {
+		return raw_pressure();
+	}
+
+	public double ground_pressure() {
+		if (ground_pres != MISSING)
+			return ground_pres / 100.0;
+		return MISSING;
+	}
+
+	public double battery_voltage() {
+		if (v_batt != MISSING)
+			return 3.3 * adc(v_batt) * 27.0 / (15.0 + 27.0);
+		return MISSING;
+	}
+
+	static double pyro(int raw) {
+		if (raw != MISSING)
+			return 3.3 * adc(raw) * 27.0 / (100.0 + 27.0);
+		return MISSING;
+	}
+
+	public double main_voltage() {
+		return pyro(sense[1]);
+	}
+
+	public double drogue_voltage() {
+		return pyro(sense[0]);
+	}
+
+	public double temperature() {
+		if (temp != MISSING)
+			return temp / 100.0;
+		return MISSING;
+	}
+	
+	public AltosIMU imu() { return imu; }
+
+	public AltosMag mag() { return mag; }
+
+	double accel_counts_per_mss() {
+		double	counts_per_g = Math.abs(accel_minus_g - accel_plus_g) / 2;
+
+		return counts_per_g / 9.80665;
+	}
+
+	public double acceleration() {
+		System.out.printf("MM record acceleration %g ground_accel %d accel %d accel_minus_g %d accel_plus_g %d\n",
+				  acceleration, ground_accel, accel, accel_minus_g, accel_plus_g);
+		if (acceleration != MISSING)
+			return acceleration;
+
+		if (ground_accel == MISSING || accel == MISSING)
+			return MISSING;
+
+		if (accel_minus_g == MISSING || accel_plus_g == MISSING)
+			return MISSING;
+
+		return (ground_accel - accel) / accel_counts_per_mss();
+	}
+
+	public double accel_speed() {
+		return speed;
+	}
+
+	public void copy (AltosRecordMM old) {
+		super.copy(old);
+
+		accel = old.accel;
+		pres = old.pres;
+		temp = old.temp;
+
+		v_batt = old.v_batt;
+		v_pyro = old.v_pyro;
+		sense = new int[num_sense];
+		
+		for (int i = 0; i < num_sense; i++)
+			sense[i] = old.sense[i];
+
+		ground_accel = old.ground_accel;
+		ground_pres = old.ground_pres;
+		accel_plus_g = old.accel_plus_g;
+		accel_minus_g = old.accel_minus_g;
+		
+		flight_accel = old.flight_accel;
+		flight_vel = old.flight_vel;
+		flight_pres = old.flight_pres;
+
+		imu = old.imu;
+		mag = old.mag;
+	}
+
+	public AltosRecordMM clone() {
+		AltosRecordMM n = (AltosRecordMM) super.clone();
+		n.copy(this);
+		return n;
+	}
+
+	void make_missing() {
+
+		accel = MISSING;
+		pres = MISSING;
+		temp = MISSING;
+
+		v_batt = MISSING;
+		v_pyro = MISSING;
+		sense = new int[num_sense];
+		for (int i = 0; i < num_sense; i++)
+			sense[i] = MISSING;
+
+		ground_accel = MISSING;
+		ground_pres = MISSING;
+		accel_plus_g = MISSING;
+		accel_minus_g = MISSING;
+
+		flight_accel = 0;
+		flight_vel = 0;
+		flight_pres = 0;
+
+		imu = new AltosIMU();
+		mag = new AltosMag();
+	}
+
+	public AltosRecordMM(AltosRecord old) {
+		super.copy(old);
+		make_missing();
+	}
+
+	public AltosRecordMM() {
+		super();
+		make_missing();
+	}
+}