altoslib/altosuilib/altosui: More work towards using AltosFlightSeries for analysis

Graphing and CSV seem complete now; stats still missing lots of stuff.

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

26 files changed, 364 insertions, 130 deletions

diff --git a/altoslib/AltosCSV.java b/altoslib/AltosCSV.java
index 0cfe4c94..38afdc64 100644
--- a/altoslib/AltosCSV.java
+++ b/altoslib/AltosCSV.java
@@ -192,31 +192,42 @@ public class AltosCSV implements AltosWriter {
 		out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z,mag_x,mag_y,mag_z");
 	}
 
+	double accel_along() { return series.value(AltosFlightSeries.accel_along_name, indices); }
+	double accel_across() { return series.value(AltosFlightSeries.accel_across_name, indices); }
+	double accel_through() { return series.value(AltosFlightSeries.accel_through_name, indices); }
+
+	double gyro_roll() { return series.value(AltosFlightSeries.gyro_roll_name, indices); }
+	double gyro_pitch() { return series.value(AltosFlightSeries.gyro_pitch_name, indices); }
+	double gyro_yaw() { return series.value(AltosFlightSeries.gyro_yaw_name, indices); }
+
+	double mag_along() { return series.value(AltosFlightSeries.mag_along_name, indices); }
+	double mag_across() { return series.value(AltosFlightSeries.mag_across_name, indices); }
+	double mag_through() { return series.value(AltosFlightSeries.mag_through_name, indices); }
+
 	void write_advanced() {
-/*
 		out.printf("%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f",
-			   state.accel_along(), state.accel_across(), state.accel_through(),
-			   state.gyro_roll(), state.gyro_pitch(), state.gyro_yaw(),
-			   state.mag_along(), state.mag_across(), state.mag_through());
-*/
+			   accel_along(), accel_across(), accel_through(),
+			   gyro_roll(), gyro_pitch(), gyro_yaw(),
+			   mag_along(), mag_across(), mag_through());
 	}
 
 	void write_gps_header() {
-/*
 		out.printf("connected,locked,nsat,latitude,longitude,altitude,year,month,day,hour,minute,second,pad_dist,pad_range,pad_az,pad_el,pdop,hdop,vdop");
-*/
 	}
 
 	void write_gps() {
-/*
-		AltosGPS	gps = state.gps;
-		if (gps == null)
-			gps = new AltosGPS();
+		AltosGPS	gps = series.gps_before(series.time(indices));
 
-		AltosGreatCircle from_pad = state.from_pad;
-		if (from_pad == null)
+		AltosGreatCircle from_pad;
+
+		if (series.cal_data.gps_pad != null && gps != null)
+			from_pad = new AltosGreatCircle(series.cal_data.gps_pad, gps);
+		else
 			from_pad = new AltosGreatCircle();
 
+		if (gps == null)
+			gps = new AltosGPS();
+
 		out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%8.1f,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%9.0f,%4.0f,%4.0f,%6.1f,%6.1f,%6.1f",
 			   gps.connected?1:0,
 			   gps.locked?1:0,
@@ -231,13 +242,12 @@ public class AltosCSV implements AltosWriter {
 			   gps.minute,
 			   gps.second,
 			   from_pad.distance,
-			   state.range,
+			   from_pad.range,
 			   from_pad.bearing,
-			   state.elevation,
+			   from_pad.elevation,
 			   gps.pdop,
 			   gps.hdop,
 			   gps.vdop);
-*/
 	}
 
 	void write_gps_sat_header() {
@@ -249,8 +259,7 @@ public class AltosCSV implements AltosWriter {
 	}
 
 	void write_gps_sat() {
-/*
-		AltosGPS	gps = state.gps;
+		AltosGPS	gps = series.gps_before(series.time(indices));
 		for(int i = 1; i <= 32; i++) {
 			int	c_n0 = 0;
 			if (gps != null && gps.cc_gps_sat != null) {
@@ -264,13 +273,14 @@ public class AltosCSV implements AltosWriter {
 			if (i != 32)
 				out.printf(",");
 		}
-*/
 	}
 
 	void write_companion_header() {
+/*
 		out.printf("companion_id,companion_time,companion_update,companion_channels");
 		for (int i = 0; i < 12; i++)
 			out.printf(",companion_%02d", i);
+*/
 	}
 
 	void write_companion() {
@@ -401,16 +411,16 @@ public class AltosCSV implements AltosWriter {
 			has_battery = true;
 		if (series.has_series(AltosFlightSeries.accel_across_name))
 			has_advanced = true;
-/*
-			if (state.gps != null) {
-				has_gps = true;
-				if (state.gps.cc_gps_sat != null)
-					has_gps_sat = true;
-			}
-			if (state.companion != null)
-				has_companion = true;
-		}
-*/
+
+		if (series.gps_series != null)
+			has_gps = true;
+		if (series.sats_in_view != null)
+			has_gps_sat = true;
+		/*
+		if (state.companion != null)
+			has_companion = true;
+		*/
+
 		indices = series.indices();
 
 		for (;;) {
diff --git a/altoslib/AltosCalData.java b/altoslib/AltosCalData.java
index 58d34abe..3da0e400 100644
--- a/altoslib/AltosCalData.java
+++ b/altoslib/AltosCalData.java
@@ -204,12 +204,11 @@ public class AltosCalData {
 		this.state = state;
 	}
 
-	public double		gps_ground_altitude = AltosLib.MISSING;
+	public AltosGPS		gps_pad = null;
 
-	public void set_gps_altitude(double altitude) {
-		if ((state != AltosLib.MISSING && state < AltosLib.ao_flight_boost) ||
-		    gps_ground_altitude == AltosLib.MISSING)
-			gps_ground_altitude = altitude;
+	public void set_gps(AltosGPS gps) {
+		if ((state != AltosLib.MISSING && state < AltosLib.ao_flight_boost) || gps_pad == null)
+			gps_pad = gps;
 	}
 
 	/*
@@ -226,7 +225,7 @@ public class AltosCalData {
 	public void reset_temp_gps() {
 		if (temp_gps != null) {
 			if (temp_gps.locked && temp_gps.nsat >= 4)
-				set_gps_altitude(temp_gps.alt);
+				set_gps(temp_gps);
 		}
 		temp_gps = null;
 	}
diff --git a/altoslib/AltosConvert.java b/altoslib/AltosConvert.java
index 95c1a99f..5b3ff391 100644
--- a/altoslib/AltosConvert.java
+++ b/altoslib/AltosConvert.java
@@ -191,7 +191,7 @@ public class AltosConvert {
 	}
 
 	public static double
-	cc_ignitor_to_voltage(double ignite)
+	cc_igniter_to_voltage(double ignite)
 	{
 		return ignite / 32767 * 15.0;
 	}
@@ -434,6 +434,10 @@ public class AltosConvert {
 
 	public static AltosStateName state_name = new AltosStateName();
 
+	public static AltosPyroName pyro_name = new AltosPyroName();
+
+	public static AltosUnits magnetic_field = null;
+
 	public static String show_gs(String format, double a) {
 		a = meters_to_g(a);
 		format = format.concat(" g");
diff --git a/altoslib/AltosDataListener.java b/altoslib/AltosDataListener.java
index b644e817..4a6fe04d 100644
--- a/altoslib/AltosDataListener.java
+++ b/altoslib/AltosDataListener.java
@@ -59,7 +59,7 @@ public abstract class AltosDataListener {
 	public abstract void set_accel(double along, double across, double through);
 	public abstract void set_mag(double along, double across, double through);
 	public abstract void set_pyro_voltage(double volts);
-	public abstract void set_ignitor_voltage(double[] voltage);
+	public abstract void set_igniter_voltage(double[] voltage);
 	public abstract void set_pyro_fired(int pyro_mask);
 	public abstract void set_companion(AltosCompanion companion);
 
diff --git a/altoslib/AltosDistance.java b/altoslib/AltosDistance.java
index 0239c5ce..5e1b3545 100644
--- a/altoslib/AltosDistance.java
+++ b/altoslib/AltosDistance.java
@@ -96,7 +96,7 @@ public class AltosDistance extends AltosUnits {
 				}
 			};
 
-		range_imperial[1] = new AltosUnitsRange(AltosConvert.feet_to_meters(1000),
+		range_imperial[1] = new AltosUnitsRange(AltosConvert.feet_to_meters(5280),
 							"mi", "miles") {
 				double value(double v) {
 					return AltosConvert.meters_to_miles(v);
diff --git a/altoslib/AltosEepromDownload.java b/altoslib/AltosEepromDownload.java
index 4e641b85..8a2053ec 100644
--- a/altoslib/AltosEepromDownload.java
+++ b/altoslib/AltosEepromDownload.java
@@ -59,7 +59,7 @@ class AltosEepromNameData extends AltosDataListener {
 	public void set_accel(double along, double across, double through) { }
 	public void set_mag(double along, double across, double through) { }
 	public void set_pyro_voltage(double volts) { }
-	public void set_ignitor_voltage(double[] voltage) { }
+	public void set_igniter_voltage(double[] voltage) { }
 	public void set_pyro_fired(int pyro_mask) { }
 	public void set_companion(AltosCompanion companion) { }
 	public void set_kalman(double height, double speed, double acceleration) { }
diff --git a/altoslib/AltosEepromNew.java b/altoslib/AltosEepromNew.java
index 5220f3a0..0da3df71 100644
--- a/altoslib/AltosEepromNew.java
+++ b/altoslib/AltosEepromNew.java
@@ -165,7 +165,8 @@ public class AltosEepromNew {
 			int start = data.size();
 
 			if (config_data().log_format != AltosLib.AO_LOG_FORMAT_TINY) {
-				data.add((byte) tokens[0].codePointAt(0));
+				byte cmd = (byte) tokens[0].codePointAt(0);
+				data.add(cmd);
 
 				int time = AltosLib.fromhex(tokens[1]);
 
diff --git a/altoslib/AltosEepromRecord.java b/altoslib/AltosEepromRecord.java
index 08f7ebca..7dd37592 100644
--- a/altoslib/AltosEepromRecord.java
+++ b/altoslib/AltosEepromRecord.java
@@ -92,7 +92,7 @@ public abstract class AltosEepromRecord implements Comparable<AltosEepromRecord>
 	public int next_start() {
 		int	s = start + length;
 
-		while (s + length < eeprom.data.size()) {
+		while (s + length <= eeprom.data.size()) {
 			if (valid(s))
 				return s;
 			s += length;
diff --git a/altoslib/AltosEepromRecordFull.java b/altoslib/AltosEepromRecordFull.java
index ea81eb3d..b4968220 100644
--- a/altoslib/AltosEepromRecordFull.java
+++ b/altoslib/AltosEepromRecordFull.java
@@ -62,8 +62,8 @@ public class AltosEepromRecordFull extends AltosEepromRecord {
 			listener.set_battery_voltage(AltosConvert.cc_battery_to_voltage(data16(2)));
 			break;
 		case AltosLib.AO_LOG_DEPLOY:
-			listener.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(data16(0)));
-			listener.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(data16(2)));
+			listener.set_apogee_voltage(AltosConvert.cc_igniter_to_voltage(data16(0)));
+			listener.set_main_voltage(AltosConvert.cc_igniter_to_voltage(data16(2)));
 			break;
 		case AltosLib.AO_LOG_STATE:
 			listener.set_state(data16(0));
diff --git a/altoslib/AltosEepromRecordMega.java b/altoslib/AltosEepromRecordMega.java
index 371810ab..d4a5a0b2 100644
--- a/altoslib/AltosEepromRecordMega.java
+++ b/altoslib/AltosEepromRecordMega.java
@@ -143,6 +143,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 					       ground_yaw() / 512.0);
 			break;
 		case AltosLib.AO_LOG_STATE:
+			System.out.printf("log state %s\n", AltosLib.state_name(state()));
 			listener.set_state(state());
 			break;
 		case AltosLib.AO_LOG_SENSOR:
@@ -198,7 +199,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 			for (int i = 0; i < nsense-2; i++)
 				voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
 
-			listener.set_ignitor_voltage(voltages);
+			listener.set_igniter_voltage(voltages);
 			listener.set_pyro_fired(pyro());
 			break;
 		case AltosLib.AO_LOG_GPS_TIME:
diff --git a/altoslib/AltosFlightListener.java b/altoslib/AltosFlightListener.java
index 5b478ed0..395d8f3f 100644
--- a/altoslib/AltosFlightListener.java
+++ b/altoslib/AltosFlightListener.java
@@ -130,7 +130,7 @@ public abstract class AltosFlightListener {
 	public abstract void set_imu(AltosIMU imu);
 	public abstract void set_mag(AltosMag mag);
 	public abstract void set_pyro_voltage(double volts);
-	public abstract void set_ignitor_voltage(double[] voltage);
+	public abstract void set_igniter_voltage(double[] voltage);
 	public abstract void set_pyro_fired(int pyro_mask);
 
 	public void copy(AltosFlightListener old) {
diff --git a/altoslib/AltosFlightSeries.java b/altoslib/AltosFlightSeries.java
index b7434a5c..0eea34b7 100644
--- a/altoslib/AltosFlightSeries.java
+++ b/altoslib/AltosFlightSeries.java
@@ -23,12 +23,17 @@ public class AltosFlightSeries extends AltosDataListener {
 	public int[] indices() {
 		int[] indices = new int[series.size()];
 		for (int i = 0; i < indices.length; i++)
-			indices[i] = 0;
+			indices[i] = -1;
+		step_indices(indices);
 		return indices;
 	}
 
 	private double time(int id, int index) {
 		AltosTimeSeries		s = series.get(id);
+
+		if (index < 0)
+			return Double.NEGATIVE_INFINITY;
+
 		if (index < s.values.size())
 			return s.values.get(index).time;
 		return Double.POSITIVE_INFINITY;
@@ -69,8 +74,30 @@ public class AltosFlightSeries extends AltosDataListener {
 	public double value(String name, int[] indices) {
 		for (int i = 0; i < indices.length; i++) {
 			AltosTimeSeries	s = series.get(i);
+			if (s.label.equals(name)) {
+				int index = indices[i];
+				if (index < 0)
+					index = 0;
+				if (index >= s.values.size())
+					index = s.values.size() - 1;
+				return s.values.get(index).value;
+			}
+		}
+		return AltosLib.MISSING;
+	}
+
+	public double value_before(String name, double time) {
+		for (AltosTimeSeries s : series) {
 			if (s.label.equals(name))
-				return s.values.get(indices[i]).value;
+				return s.value_before(time);
+		}
+		return AltosLib.MISSING;
+	}
+
+	public double value_after(String name, double time) {
+		for (AltosTimeSeries s : series) {
+			if (s.label.equals(name))
+				return s.value_after(time);
 		}
 		return AltosLib.MISSING;
 	}
@@ -105,11 +132,12 @@ public class AltosFlightSeries extends AltosDataListener {
 	public static final String state_name = "State";
 
 	public void set_state(int state) {
-		this.state = state;
 		if (state_series == null)
 			state_series = add_series(state_name, AltosConvert.state_name);
-		else if ((int) state_series.get(state_series.size()-1).value == state)
+		else if (this.state == state)
 			return;
+		System.out.printf("state %s\n", AltosLib.state_name(state));
+		this.state = state;
 		state_series.add(time(), state);
 	}
 
@@ -146,14 +174,14 @@ public class AltosFlightSeries extends AltosDataListener {
 
 	AltosTimeSeries status_series;
 
-	public static final String status_name = "Status";
+	public static final String status_name = "Radio Status";
 
 	public void set_rssi(int rssi, int status) {
-		if (rssi_series == null)
+		if (rssi_series == null) {
 			rssi_series = add_series(rssi_name, null);
-		rssi_series.add(time(), rssi);
-		if (status_series == null)
 			status_series = add_series(status_name, null);
+		}
+		rssi_series.add(time(), rssi);
 		status_series.add(time(), status);
 	}
 
@@ -329,6 +357,18 @@ public class AltosFlightSeries extends AltosDataListener {
 		main_voltage_series.add(time(), volts);
 	}
 
+	public ArrayList<AltosGPSTimeValue> gps_series;
+
+	public AltosGPS gps_before(double time) {
+		AltosGPS gps = null;
+		for (AltosGPSTimeValue gtv : gps_series)
+			if (gtv.time <= time)
+				gps = gtv.gps;
+			else
+				break;
+		return gps;
+	}
+
 	AltosTimeSeries	sats_in_view;
 	AltosTimeSeries sats_in_soln;
 	AltosTimeSeries gps_altitude;
@@ -337,8 +377,7 @@ public class AltosFlightSeries extends AltosDataListener {
 	AltosTimeSeries gps_ascent_rate;
 	AltosTimeSeries gps_course;
 	AltosTimeSeries gps_speed;
-
-	public ArrayList<AltosGPSTimeValue> gps_series;
+	AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
 
 	public static final String sats_in_view_name = "Satellites in view";
 	public static final String sats_in_soln_name = "Satellites in solution";
@@ -348,30 +387,42 @@ public class AltosFlightSeries extends AltosDataListener {
 	public static final String gps_ascent_rate_name = "GPS Ascent Rate";
 	public static final String gps_course_name = "GPS Course";
 	public static final String gps_speed_name = "GPS Speed";
+	public static final String gps_pdop_name = "GPS Dilution of Precision";
+	public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
+	public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
 
 	public void set_gps(AltosGPS gps) {
 		if (gps_series == null)
 			gps_series = new ArrayList<AltosGPSTimeValue>();
 		gps_series.add(new AltosGPSTimeValue(time(), gps));
 
-		if (sats_in_view == null) {
-			sats_in_view = add_series(sats_in_view_name, null);
+		if (sats_in_soln == null) {
 			sats_in_soln = add_series(sats_in_soln_name, null);
-			gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
-			gps_height = add_series(gps_height_name, AltosConvert.height);
-			gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
-			gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
-			gps_course = add_series(gps_course_name, null);
-			gps_speed = add_series(gps_speed_name, null);
 		}
-		if (gps.cc_gps_sat != null)
-			sats_in_view.add(time(), gps.cc_gps_sat.length);
+		sats_in_soln.add(time(), gps.nsat);
+		if (gps.pdop != AltosLib.MISSING) {
+			if (gps_pdop == null) {
+				gps_pdop = add_series(gps_pdop_name, null);
+				gps_hdop = add_series(gps_hdop_name, null);
+				gps_vdop = add_series(gps_vdop_name, null);
+			}
+			gps_pdop.add(time(), gps.pdop);
+			gps_hdop.add(time(), gps.hdop);
+			gps_vdop.add(time(), gps.vdop);
+		}
 		if (gps.locked) {
-			sats_in_soln.add(time(), gps.nsat);
+			if (gps_altitude == null) {
+				gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
+				gps_height = add_series(gps_height_name, AltosConvert.height);
+				gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
+				gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
+				gps_course = add_series(gps_course_name, null);
+				gps_speed = add_series(gps_speed_name, null);
+			}
 			if (gps.alt != AltosLib.MISSING) {
 				gps_altitude.add(time(), gps.alt);
-				if (cal_data.gps_ground_altitude != AltosLib.MISSING)
-					gps_height.add(time(), gps.alt - cal_data.gps_ground_altitude);
+				if (cal_data.gps_pad != null)
+					gps_height.add(time(), gps.alt - cal_data.gps_pad.alt);
 			}
 			if (gps.ground_speed != AltosLib.MISSING)
 				gps_ground_speed.add(time(), gps.ground_speed);
@@ -383,33 +434,141 @@ public class AltosFlightSeries extends AltosDataListener {
 				gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
 								gps.climb_rate * gps.climb_rate));
 		}
+		if (gps.cc_gps_sat != null) {
+			if (sats_in_view == null)
+				sats_in_view = add_series(sats_in_view_name, null);
+			sats_in_view.add(time(), gps.cc_gps_sat.length);
+		}
 	}
 
-	public static final String accel_across_name = "Accel Across";
 	public static final String accel_along_name = "Accel Along";
+	public static final String accel_across_name = "Accel Across";
 	public static final String accel_through_name = "Accel Through";
 
+	AltosTimeSeries accel_along, accel_across, accel_through;
+
+	public static final String gyro_roll_name = "Roll Rate";
+	public static final String gyro_pitch_name = "Pitch Rate";
+	public static final String gyro_yaw_name = "Yaw Rate";
+
+	AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
+
+	public static final String mag_along_name = "Magnetic Field Along";
+	public static final String mag_across_name = "Magnetic Field Across";
+	public static final String mag_through_name = "Magnetic Field Through";
+
+	AltosTimeSeries mag_along, mag_across, mag_through;
+
 	public  void set_accel(double along, double across, double through) {
+		if (accel_along == null) {
+			accel_along = add_series(accel_along_name, AltosConvert.accel);
+			accel_across = add_series(accel_across_name, AltosConvert.accel);
+			accel_through = add_series(accel_through_name, AltosConvert.accel);
+		}
+		accel_along.add(time(), along);
+		accel_across.add(time(), across);
+		accel_through.add(time(), through);
 	}
 
 	public  void set_accel_ground(double along, double across, double through) {
 	}
 
 	public  void set_gyro(double roll, double pitch, double yaw) {
+		if (gyro_roll == null) {
+			gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
+			gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
+			gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
+		}
+		gyro_roll.add(time(), roll);
+		gyro_pitch.add(time(), pitch);
+		gyro_yaw.add(time(), yaw);
 	}
 
 	public  void set_mag(double along, double across, double through) {
+		if (mag_along == null) {
+			mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
+			mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
+			mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
+		}
+		mag_along.add(time(), along);
+		mag_across.add(time(), across);
+		mag_through.add(time(), through);
 	}
 
-	public void set_orient(double new_orient) { }
+	public static final String orient_name = "Tilt Angle";
+
+	AltosTimeSeries orient_series;
+
+	public void set_orient(double orient) {
+		if (orient_series == null)
+			orient_series = add_series(orient_name, AltosConvert.orient);
+		orient_series.add(time(), orient);
+	}
+
+	public static final String pyro_voltage_name = "Pyro Voltage";
+
+	AltosTimeSeries pyro_voltage;
 
 	public  void set_pyro_voltage(double volts) {
+		if (pyro_voltage == null)
+			pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
+		pyro_voltage.add(time(), volts);
 	}
 
-	public  void set_ignitor_voltage(double[] voltage) {
+	private static String[] igniter_voltage_names;
+
+	public String igniter_voltage_name(int channel) {
+		if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
+			String[] new_igniter_voltage_names = new String[channel + 1];
+			int	i = 0;
+
+			if (igniter_voltage_names != null) {
+				for (; i < igniter_voltage_names.length; i++)
+					new_igniter_voltage_names[i] = igniter_voltage_names[i];
+			}
+			for (; i < channel+1; i++)
+				new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
+			igniter_voltage_names = new_igniter_voltage_names;
+		}
+		return igniter_voltage_names[channel];
+	}
+
+	AltosTimeSeries[] igniter_voltage;
+
+	public  void set_igniter_voltage(double[] voltage) {
+		int channels = voltage.length;
+		if (igniter_voltage == null || igniter_voltage.length <= channels) {
+			AltosTimeSeries[]	new_igniter_voltage = new AltosTimeSeries[channels + 1];
+			int			i = 0;
+
+			if (igniter_voltage != null) {
+				for (; i < igniter_voltage.length; i++)
+					new_igniter_voltage[i] = igniter_voltage[i];
+			}
+			for (; i < channels; i++)
+				new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
+			igniter_voltage = new_igniter_voltage;
+		}
+		for (int channel = 0; channel < voltage.length; channel++)
+			igniter_voltage[channel].add(time(), voltage[channel]);
 	}
 
+	public static final String pyro_fired_name = "Pyro Channel State";
+
+	AltosTimeSeries pyro_fired_series;
+
+	int	last_pyro_mask;
+
 	public  void set_pyro_fired(int pyro_mask) {
+		if (pyro_fired_series == null)
+			pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
+		for (int channel = 0; channel < 32; channel++) {
+			if ((last_pyro_mask & (1 << channel)) == 0 &&
+			    (pyro_mask & (1 << channel)) != 0) {
+				pyro_fired_series.add(time(), channel);
+			}
+		}
+		last_pyro_mask = pyro_mask;
 	}
 
 	public void set_companion(AltosCompanion companion) {
diff --git a/altoslib/AltosFlightStats.java b/altoslib/AltosFlightStats.java
index 7179351e..54d0dd63 100644
--- a/altoslib/AltosFlightStats.java
+++ b/altoslib/AltosFlightStats.java
@@ -46,7 +46,7 @@ public class AltosFlightStats {
 	public boolean		has_imu;
 	public boolean		has_mag;
 	public boolean		has_orient;
-	public int		num_ignitor;
+	public int		num_igniter;
 
 	double landed_time(AltosFlightSeries series) {
 		double	landed_state_time = AltosLib.MISSING;
@@ -215,8 +215,8 @@ public class AltosFlightStats {
 				has_mag = true;
 			if (state.orient() != AltosLib.MISSING)
 				has_orient = true;
-			if (state.ignitor_voltage != null && state.ignitor_voltage.length > num_ignitor)
-				num_ignitor = state.ignitor_voltage.length;
+			if (state.igniter_voltage != null && state.igniter_voltage.length > num_igniter)
+				num_igniter = state.igniter_voltage.length;
 		}
 */
 		for (int s = AltosLib.ao_flight_startup; s <= AltosLib.ao_flight_landed; s++) {
diff --git a/altoslib/AltosLib.java b/altoslib/AltosLib.java
index 2137d1d7..fb43ea20 100644
--- a/altoslib/AltosLib.java
+++ b/altoslib/AltosLib.java
@@ -571,7 +571,7 @@ public class AltosLib {
 		}
 	}
 
-	public static String ignitor_name(int i) {
+	public static String igniter_name(int i) {
 		return String.format("Ignitor %c", 'A' + i);
 	}
 }
diff --git a/altoslib/AltosMapLine.java b/altoslib/AltosMapLine.java
index c475f52d..cf09307e 100644
--- a/altoslib/AltosMapLine.java
+++ b/altoslib/AltosMapLine.java
@@ -44,39 +44,9 @@ public abstract class AltosMapLine {
 	}
 
 	public String line_dist() {
-		String	format;
 		AltosGreatCircle	g = new AltosGreatCircle(start.lat, start.lon,
 								 end.lat, end.lon);
-		double	distance = g.distance;
 
-		if (AltosConvert.imperial_units) {
-			distance = AltosConvert.meters_to_feet(distance);
-			if (distance < 1000) {
-				format = "%4.0fft";
-			} else {
-				distance /= 5280;
-				if (distance < 10)
-					format = "%5.3fmi";
-				else if (distance < 100)
-					format = "%5.2fmi";
-				else if (distance < 1000)
-					format = "%5.1fmi";
-				else
-					format = "%5.0fmi";
-			}
-		} else {
-			if (distance < 1000) {
-				format = "%4.0fm";
-			} else {
-				distance /= 1000;
-				if (distance < 100)
-					format = "%5.2fkm";
-				else if (distance < 1000)
-					format = "%5.1fkm";
-				else
-					format = "%5.0fkm";
-			}
-		}
-		return String.format(format, distance);
+		return AltosConvert.distance.show(7, g.distance);
 	}
 }
diff --git a/altoslib/AltosPyroName.java b/altoslib/AltosPyroName.java
new file mode 100644
index 00000000..18a31dd2
--- /dev/null
+++ b/altoslib/AltosPyroName.java
@@ -0,0 +1,32 @@
+/*
+ * Copyright © 2017 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, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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.
+ */
+
+package org.altusmetrum.altoslib_11;
+
+public class AltosPyroName extends AltosUnits {
+
+	public double value(double v, boolean imperial_units) { return v; }
+
+	public double inverse(double v, boolean imperial_units) { return v; }
+
+	public String string_value(double v, boolean imperial_units) {
+		return AltosLib.igniter_name((int) v);
+	}
+
+	public String show_units(boolean imperial_units) { return "state"; }
+
+	public String say_units(boolean imperial_units) { return "state"; }
+
+	public int show_fraction(int width, boolean imperial_units) { return 0; }
+}
diff --git a/altoslib/AltosSensorMega.java b/altoslib/AltosSensorMega.java
index 63c7a0ce..82696038 100644
--- a/altoslib/AltosSensorMega.java
+++ b/altoslib/AltosSensorMega.java
@@ -97,10 +97,10 @@ class AltosSensorMega {
 			state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sensor_mega.sense[4]));
 			state.set_main_voltage(AltosConvert.mega_pyro_voltage(sensor_mega.sense[5]));
 
-			double[]	ignitor_voltage = new double[4];
+			double[]	igniter_voltage = new double[4];
 			for (int i = 0; i < 4; i++)
-				ignitor_voltage[i] = AltosConvert.mega_pyro_voltage(sensor_mega.sense[i]);
-			state.set_ignitor_voltage(ignitor_voltage);
+				igniter_voltage[i] = AltosConvert.mega_pyro_voltage(sensor_mega.sense[i]);
+			state.set_igniter_voltage(igniter_voltage);
 
 		} catch (TimeoutException te) {
 		}
diff --git a/altoslib/AltosSensorTM.java b/altoslib/AltosSensorTM.java
index 7d7becfb..49f3986b 100644
--- a/altoslib/AltosSensorTM.java
+++ b/altoslib/AltosSensorTM.java
@@ -39,8 +39,8 @@ public class AltosSensorTM {
 			listener.set_pressure(AltosConvert.barometer_to_pressure(sensor_tm.pres));
 			listener.set_temperature(AltosConvert.thermometer_to_temperature(sensor_tm.temp));
 			listener.set_battery_voltage(AltosConvert.cc_battery_to_voltage(sensor_tm.batt));
-			listener.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(sensor_tm.drogue));
-			listener.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(sensor_tm.main));
+			listener.set_apogee_voltage(AltosConvert.cc_igniter_to_voltage(sensor_tm.drogue));
+			listener.set_main_voltage(AltosConvert.cc_igniter_to_voltage(sensor_tm.main));
 
 		} catch (TimeoutException te) {
 		}
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index f46b12ea..889aa9a3 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -702,7 +702,7 @@ public class AltosState extends AltosDataListener {
 	public double	apogee_voltage;
 	public double	main_voltage;
 
-	public double	ignitor_voltage[];
+	public double	igniter_voltage[];
 
 	public AltosGPS	gps;
 	public AltosGPS	temp_gps;
@@ -786,7 +786,7 @@ public class AltosState extends AltosDataListener {
 		pyro_voltage = AltosLib.MISSING;
 		apogee_voltage = AltosLib.MISSING;
 		main_voltage = AltosLib.MISSING;
-		ignitor_voltage = null;
+		igniter_voltage = null;
 
 		kalman_height = new AltosValue();
 		kalman_speed = new AltosValue();
@@ -1221,8 +1221,8 @@ public class AltosState extends AltosDataListener {
 		}
 	}
 
-	public void set_ignitor_voltage(double[] voltage) {
-		this.ignitor_voltage = voltage;
+	public void set_igniter_voltage(double[] voltage) {
+		this.igniter_voltage = voltage;
 	}
 
 	public void set_pyro_fired(int fired) {
diff --git a/altoslib/AltosTelemetryFile.java b/altoslib/AltosTelemetryFile.java
index 0b0e6a48..c6462872 100644
--- a/altoslib/AltosTelemetryFile.java
+++ b/altoslib/AltosTelemetryFile.java
@@ -46,7 +46,7 @@ class AltosTelemetryNullListener extends AltosDataListener {
 	public void set_accel(double along, double across, double through) { }
 	public void set_mag(double along, double across, double through) { }
 	public void set_pyro_voltage(double volts) { }
-	public void set_ignitor_voltage(double[] voltage) { }
+	public void set_igniter_voltage(double[] voltage) { }
 	public void set_pyro_fired(int pyro_mask) { }
 	public void set_companion(AltosCompanion companion) { }
 
@@ -78,7 +78,7 @@ class AltosTelemetryNullListener extends AltosDataListener {
 		/*
 		 * TelemetryLocation
 		 */
-		if (AltosLib.has_gps(cal_data.device_type) && cal_data.gps_ground_altitude == AltosLib.MISSING)
+		if (AltosLib.has_gps(cal_data.device_type) && cal_data.gps_pad == null)
 			return false;
 
 		return true;
diff --git a/altoslib/AltosTelemetryLegacy.java b/altoslib/AltosTelemetryLegacy.java
index 394d023c..8a86417c 100644
--- a/altoslib/AltosTelemetryLegacy.java
+++ b/altoslib/AltosTelemetryLegacy.java
@@ -564,8 +564,8 @@ public class AltosTelemetryLegacy extends AltosTelemetry {
 			listener.set_kalman(kalman_height, kalman_speed, kalman_acceleration);
 		listener.set_temperature(AltosConvert.thermometer_to_temperature(temp));
 		listener.set_battery_voltage(AltosConvert.cc_battery_to_voltage(batt));
-		listener.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(apogee));
-		listener.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(main));
+		listener.set_apogee_voltage(AltosConvert.cc_igniter_to_voltage(apogee));
+		listener.set_main_voltage(AltosConvert.cc_igniter_to_voltage(main));
 		if (gps != null)
 			listener.set_gps(gps);
 	}
diff --git a/altoslib/AltosTelemetryLocation.java b/altoslib/AltosTelemetryLocation.java
index 5eb727d6..c7b7fa22 100644
--- a/altoslib/AltosTelemetryLocation.java
+++ b/altoslib/AltosTelemetryLocation.java
@@ -58,6 +58,9 @@ public class AltosTelemetryLocation extends AltosTelemetryStandard {
 		gps.nsat = flags & 0xf;
 		gps.locked = (flags & (1 << 4)) != 0;
 		gps.connected = (flags & (1 << 5)) != 0;
+		gps.pdop = pdop() / 10.0;
+		gps.hdop = hdop() / 10.0;
+		gps.vdop = vdop() / 10.0;
 
 		if (gps.locked) {
 			gps.lat = latitude() * 1.0e-7;
@@ -72,12 +75,9 @@ 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.pdop = pdop() / 10.0;
-			gps.hdop = hdop() / 10.0;
-			gps.vdop = vdop() / 10.0;
 
 			if (gps.nsat >= 4)
-				cal_data.set_gps_altitude(gps.alt);
+				cal_data.set_gps(gps);
 		}
 		listener.set_gps(gps);
 	}
diff --git a/altoslib/AltosTelemetryMegaData.java b/altoslib/AltosTelemetryMegaData.java
index c0749e87..b648f300 100644
--- a/altoslib/AltosTelemetryMegaData.java
+++ b/altoslib/AltosTelemetryMegaData.java
@@ -55,7 +55,7 @@ public class AltosTelemetryMegaData extends AltosTelemetryStandard {
 		for (int i = 0; i < 4; i++)
 			voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
 
-		listener.set_ignitor_voltage(voltages);
+		listener.set_igniter_voltage(voltages);
 
 		cal_data.set_ground_accel(ground_accel());
 		cal_data.set_ground_pressure(ground_pres());
diff --git a/altoslib/AltosTelemetrySensor.java b/altoslib/AltosTelemetrySensor.java
index 37589397..da253eea 100644
--- a/altoslib/AltosTelemetrySensor.java
+++ b/altoslib/AltosTelemetrySensor.java
@@ -57,8 +57,8 @@ public class AltosTelemetrySensor extends AltosTelemetryStandard {
 		listener.set_temperature(AltosConvert.thermometer_to_temperature(temp()));
 		listener.set_battery_voltage(AltosConvert.cc_battery_to_voltage(v_batt()));
 		if (type() == packet_type_TM_sensor || type() == packet_type_Tm_sensor) {
-			listener.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(sense_d()));
-			listener.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(sense_m()));
+			listener.set_apogee_voltage(AltosConvert.cc_igniter_to_voltage(sense_d()));
+			listener.set_main_voltage(AltosConvert.cc_igniter_to_voltage(sense_m()));
 		}
 
 		listener.set_kalman(height_16(), speed()/16.0, acceleration()/16.0);
diff --git a/altoslib/AltosTimeSeries.java b/altoslib/AltosTimeSeries.java
index 1d3d9a6c..30b24d82 100644
--- a/altoslib/AltosTimeSeries.java
+++ b/altoslib/AltosTimeSeries.java
@@ -17,9 +17,9 @@ package org.altusmetrum.altoslib_11;
 import java.util.*;
 
 public class AltosTimeSeries implements Iterable<AltosTimeValue> {
-	public String		label;
-	public AltosUnits	units;
-	List<AltosTimeValue>	values;
+	public String			label;
+	public AltosUnits		units;
+	ArrayList<AltosTimeValue>	values;
 
 	public void add(AltosTimeValue tv) {
 		values.add(tv);
@@ -33,6 +33,58 @@ public class AltosTimeSeries implements Iterable<AltosTimeValue> {
 		return values.get(i);
 	}
 
+	private double lerp(AltosTimeValue v0, AltosTimeValue v1, double t) {
+		/* degenerate case */
+		if (v0.time == v1.time)
+			return (v0.value + v1.value) / 2;
+
+		return (v0.value * (v1.time - t) + v1.value * (t - v0.time)) / v1.time - v0.time;
+	}
+
+	private int after_index(double time) {
+		int	lo = 0;
+		int	hi = values.size() - 1;
+
+		while (lo <= hi) {
+			int mid = (lo + hi) / 2;
+
+			if (values.get(mid).time < time)
+				lo = mid + 1;
+			else
+				hi = mid - 1;
+		}
+		return lo;
+	}
+
+	/* Compute a value for an arbitrary time */
+	public double value(double time) {
+		int after = after_index(time);
+		if (after == 0)
+			return values.get(0).value;
+		if (after == values.size())
+			return values.get(after - 1).value;
+
+		return lerp(values.get(after-1), values.get(after), time);
+	}
+
+	/* Find the value just before an arbitrary time */
+	public double value_before(double time) {
+		int after = after_index(time);
+
+		if (after == 0)
+			return values.get(0).value;
+		return values.get(after-1).value;
+	}
+
+	/* Find the value just after an arbitrary time */
+	public double value_after(double time) {
+		int after = after_index(time);
+
+		if (after == values.size())
+			return values.get(after-1).value;
+		return values.get(after).value;
+	}
+
 	public int size() {
 		return values.size();
 	}
@@ -144,11 +196,16 @@ public class AltosTimeSeries implements Iterable<AltosTimeValue> {
 
 			int	left = find_left(i, half_width);
 			int	right = find_right(i, half_width);
+
 			for (int j = left; j <= right; j++) {
 				double	j_time = values.get(j).time;
 
 				if (left_time <= j_time && j_time <= right_time) {
-					double	coeff = filter_coeff(j_time - center_time, width);
+					double	j_left = j == left ? left_time : values.get(j-1).time;
+					double	j_right = j == right ? right_time : values.get(j+1).time;
+					double	interval = (j_right - j_left) / 2.0;
+					double	coeff = filter_coeff(j_time - center_time, width) * interval;
+
 					total_coeff += coeff;
 					total_value += coeff * values.get(j).value;
 				}
diff --git a/altoslib/Makefile.am b/altoslib/Makefile.am
index fa0e8c1b..ffa92783 100644
--- a/altoslib/Makefile.am
+++ b/altoslib/Makefile.am
@@ -92,6 +92,7 @@ altoslib_JAVA = \
 	AltosPreferences.java \
 	AltosPreferencesBackend.java \
 	AltosProgrammer.java \
+	AltosPyroName.java \
 	AltosReplayReader.java \
 	AltosRomconfig.java \
 	AltosSavedState.java \