altoslib: Clean up GPS DOP support in AltosState

Parse out hdop/pdop/vdop from telem and eeprom. Deal with legacy
eeprom files that have dop/100 instead of dop/10 values.

Clear state DOP values to MISSING at startup

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

9 files changed, 93 insertions, 19 deletions

diff --git a/altoslib/AltosEepromGPS.java b/altoslib/AltosEepromGPS.java
index 2514b4fc..46a2173d 100644
--- a/altoslib/AltosEepromGPS.java
+++ b/altoslib/AltosEepromGPS.java
@@ -118,8 +118,21 @@ public class AltosEepromGPS extends AltosEeprom {
 			gps.ground_speed = ground_speed() * 1.0e-2;
 			gps.course = course() * 2;
 			gps.climb_rate = climb_rate() * 1.0e-2;
-			gps.hdop = hdop();
-			gps.vdop = vdop();
+			if (state.compare_version("1.4.9") >= 0) {
+				gps.pdop = pdop() / 10.0;
+				gps.hdop = hdop() / 10.0;
+				gps.vdop = vdop() / 10.0;
+			} else {
+				gps.pdop = pdop() / 100.0;
+				if (gps.pdop < 0.8)
+					gps.pdop += 2.56;
+				gps.hdop = hdop() / 100.0;
+				if (gps.hdop < 0.8)
+					gps.hdop += 2.56;
+				gps.vdop = vdop() / 100.0;
+				if (gps.vdop < 0.8)
+					gps.vdop += 2.56;
+			}
 			break;
 		}
 	}
diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java
index 5d5f3fef..1616de77 100644
--- a/altoslib/AltosEepromMega.java
+++ b/altoslib/AltosEepromMega.java
@@ -187,8 +187,21 @@ public class AltosEepromMega extends AltosEeprom {
 			gps.ground_speed = ground_speed() * 1.0e-2;
 			gps.course = course() * 2;
 			gps.climb_rate = climb_rate() * 1.0e-2;
-			gps.hdop = hdop();
-			gps.vdop = vdop();
+			if (state.compare_version("1.4.9") >= 0) {
+				gps.pdop = pdop() / 10.0;
+				gps.hdop = hdop() / 10.0;
+				gps.vdop = vdop() / 10.0;
+			} else {
+				gps.pdop = pdop() / 100.0;
+				if (gps.pdop < 0.8)
+					gps.pdop += 2.56;
+				gps.hdop = hdop() / 100.0;
+				if (gps.hdop < 0.8)
+					gps.hdop += 2.56;
+				gps.vdop = vdop() / 100.0;
+				if (gps.vdop < 0.8)
+					gps.vdop += 2.56;
+			}
 			break;
 		case AltosLib.AO_LOG_GPS_SAT:
 			state.set_tick(tick);
diff --git a/altoslib/AltosEepromMetrum2.java b/altoslib/AltosEepromMetrum2.java
index 24277118..2f43879e 100644
--- a/altoslib/AltosEepromMetrum2.java
+++ b/altoslib/AltosEepromMetrum2.java
@@ -59,6 +59,7 @@ public class AltosEepromMetrum2 extends AltosEeprom {
 	public int year() { return data8(4); }
 	public int month() { return data8(5); }
 	public int day() { return data8(6); }
+	public int pdop() { return data8(7); }
 
 	/* AO_LOG_GPS_SAT elements */
 	public int nsat() { return data8(0); }
@@ -136,6 +137,7 @@ public class AltosEepromMetrum2 extends AltosEeprom {
 			gps.year = 2000 + year();
 			gps.month = month();
 			gps.day = day();
+			gps.pdop = pdop() / 10.0;
 			break;
 		case AltosLib.AO_LOG_GPS_SAT:
 			gps = state.make_temp_gps(true);
diff --git a/altoslib/AltosGPS.java b/altoslib/AltosGPS.java
index aabcfc5b..0154e95d 100644
--- a/altoslib/AltosGPS.java
+++ b/altoslib/AltosGPS.java
@@ -40,10 +40,11 @@ public class AltosGPS implements Cloneable {
 	public double	ground_speed;	/* m/s */
 	public int	course;		/* degrees */
 	public double	climb_rate;	/* m/s */
+	public double	pdop;		/* unitless */
 	public double	hdop;		/* unitless */
 	public double	vdop;		/* unitless */
-	public int	h_error;	/* m */
-	public int	v_error;	/* m */
+	public double	h_error;	/* m */
+	public double	v_error;	/* m */
 
 	public AltosGPSSat[] cc_gps_sat;	/* tracking data */
 
@@ -95,6 +96,7 @@ public class AltosGPS implements Cloneable {
 						      AltosLib.MISSING, 1/100.0);
 			course = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_COURSE,
 					     AltosLib.MISSING);
+			pdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_PDOP, MISSING, 1.0);
 			hdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HDOP, MISSING, 1.0);
 			vdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_VDOP, MISSING, 1.0);
 			h_error = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_HERROR, MISSING);
@@ -268,14 +270,26 @@ public class AltosGPS implements Cloneable {
 		cc_gps_sat[cc_gps_sat.length - 1] = sat;
 	}
 
-	public AltosGPS() {
+	private void init() {
 		lat = AltosLib.MISSING;
 		lon = AltosLib.MISSING;
 		alt = AltosLib.MISSING;
+		ground_speed = AltosLib.MISSING;
+		course = AltosLib.MISSING;
+		climb_rate = AltosLib.MISSING;
+		pdop = AltosLib.MISSING;
+		hdop = AltosLib.MISSING;
+		vdop = AltosLib.MISSING;
+		h_error = AltosLib.MISSING;
+		v_error = AltosLib.MISSING;
 		ClearGPSTime();
 		cc_gps_sat = null;
 	}
 
+	public AltosGPS() {
+		init();
+	}
+
 	public AltosGPS clone() {
 		AltosGPS	g = new AltosGPS();
 
@@ -295,7 +309,9 @@ public class AltosGPS implements Cloneable {
 		g.ground_speed = ground_speed;	/* m/s */
 		g.course = course;		/* degrees */
 		g.climb_rate = climb_rate;	/* m/s */
-		g.hdop = hdop;		/* unitless? */
+		g.pdop = pdop;		/* unitless */
+		g.hdop = hdop;		/* unitless */
+		g.vdop = vdop;		/* unitless */
 		g.h_error = h_error;	/* m */
 		g.v_error = v_error;	/* m */
 
@@ -327,9 +343,11 @@ public class AltosGPS implements Cloneable {
 			ground_speed = old.ground_speed;	/* m/s */
 			course = old.course;		/* degrees */
 			climb_rate = old.climb_rate;	/* m/s */
+			pdop = old.pdop;		/* unitless? */
 			hdop = old.hdop;		/* unitless? */
-			h_error = old.h_error;	/* m */
-			v_error = old.v_error;	/* m */
+			vdop = old.vdop;		/* unitless? */
+			h_error = old.h_error;		/* m */
+			v_error = old.v_error;		/* m */
 
 			if (old.cc_gps_sat != null) {
 				cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
@@ -340,11 +358,7 @@ public class AltosGPS implements Cloneable {
 				}
 			}
 		} else {
-			lat = AltosLib.MISSING;
-			lon = AltosLib.MISSING;
-			alt = AltosLib.MISSING;
-			ClearGPSTime();
-			cc_gps_sat = null;
+			init();
 		}
 	}
 
diff --git a/altoslib/AltosLib.java b/altoslib/AltosLib.java
index c2ec0e3b..eb188d6b 100644
--- a/altoslib/AltosLib.java
+++ b/altoslib/AltosLib.java
@@ -215,6 +215,31 @@ public class AltosLib {
 								 telemetry));
 	}
 
+	private static int[] split_version(String version) {
+		String[] tokens = version.split("\\.");
+		int[] ret = new int[tokens.length];
+		for (int i = 0; i < tokens.length; i++)
+			ret[i] = Integer.parseInt(tokens[i]);
+		return ret;
+	}
+
+	public static int compare_version(String version_a, String version_b) {
+		int[] a = split_version(version_a);
+		int[] b = split_version(version_b);
+
+		for (int i = 0; i < Math.min(a.length, b.length); i++) {
+			if (a[i] < b[i])
+				return -1;
+			if (a[i] > b[i])
+				return 1;
+		}
+		if (a.length < b.length)
+			return -1;
+		if (a.length > b.length)
+			return 1;
+		return 0;
+	}
+
 	private static String[] state_to_string = {
 		"startup",
 		"idle",
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index 5e7908af..2fc13b44 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -1024,6 +1024,12 @@ public class AltosState implements Cloneable {
 		firmware_version = version;
 	}
 
+	public int compare_version(String other_version) {
+		if (firmware_version == null)
+			return AltosLib.MISSING;
+		return AltosLib.compare_version(firmware_version, other_version);
+	}
+
 	private void re_init() {
 		int bt = boost_tick;
 		int rs = receiver_serial;
diff --git a/altoslib/AltosTelemetryLegacy.java b/altoslib/AltosTelemetryLegacy.java
index b7aae3c4..72a8bc4a 100644
--- a/altoslib/AltosTelemetryLegacy.java
+++ b/altoslib/AltosTelemetryLegacy.java
@@ -186,6 +186,7 @@ public class AltosTelemetryLegacy extends AltosTelemetry {
 	 *	g_v		GPS vertical speed (integer, cm/sec)
 	 *	g_s		GPS horizontal speed (integer, cm/sec)
 	 *	g_c		GPS course (integer, 0-359)
+	 *	g_pd		GPS pdop (integer * 10)
 	 *	g_hd		GPS hdop (integer * 10)
 	 *	g_vd		GPS vdop (integer * 10)
 	 *	g_he		GPS h error (integer)
@@ -209,6 +210,7 @@ public class AltosTelemetryLegacy extends AltosTelemetry {
 	final static String AO_TELEM_GPS_VERTICAL_SPEED		= "g_v";
 	final static String AO_TELEM_GPS_HORIZONTAL_SPEED	= "g_g";
 	final static String AO_TELEM_GPS_COURSE			= "g_c";
+	final static String AO_TELEM_GPS_PDOP			= "g_pd";
 	final static String AO_TELEM_GPS_HDOP			= "g_hd";
 	final static String AO_TELEM_GPS_VDOP			= "g_vd";
 	final static String AO_TELEM_GPS_HERROR			= "g_he";
diff --git a/altoslib/AltosTelemetryLocation.java b/altoslib/AltosTelemetryLocation.java
index 32ca7608..9d50e2fa 100644
--- a/altoslib/AltosTelemetryLocation.java
+++ b/altoslib/AltosTelemetryLocation.java
@@ -80,8 +80,9 @@ 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.hdop = hdop;
-			gps.vdop = vdop;
+			gps.pdop = pdop / 10.0;
+			gps.hdop = hdop / 10.0;
+			gps.vdop = vdop / 10.0;
 		}
 		state.set_temp_gps();
 	}
diff --git a/altoslib/AltosWriter.java b/altoslib/AltosWriter.java
index 9df52250..fb208b02 100644
--- a/altoslib/AltosWriter.java
+++ b/altoslib/AltosWriter.java
@@ -19,8 +19,6 @@ package org.altusmetrum.altoslib_5;
 
 public interface AltosWriter {
 
-	public void write(AltosState state);
-
 	public void write(AltosStateIterable states);
 
 	public void close();