diff options
| -rw-r--r-- | altoslib/AltosState.java | 93 |
1 files changed, 86 insertions, 7 deletions
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index 08dafbb4..6d52dc40 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -299,6 +299,30 @@ public class AltosState implements Cloneable { ground_altitude.set_measured(a, time); } + class AltosGpsGroundAltitude extends AltosValue { + void set(double a, double t) { + super.set(a, t); + pad_alt = value(); + gps_altitude.set_gps_height(); + } + + void set_filtered(double a, double t) { + super.set_filtered(a, t); + pad_alt = value(); + gps_altitude.set_gps_height(); + } + } + + private AltosGpsGroundAltitude gps_ground_altitude; + + public double gps_ground_altitude() { + return gps_ground_altitude.value(); + } + + public void set_gps_ground_altitude(double a) { + gps_ground_altitude.set(a, time); + } + class AltosGroundPressure extends AltosCValue { void set_filtered(double p, double time) { computed.set_filtered(p, time); @@ -344,26 +368,56 @@ public class AltosState implements Cloneable { private AltosAltitude altitude; + class AltosGpsAltitude extends AltosValue { + + private void set_gps_height() { + double a = value(); + double g = gps_ground_altitude.value(); + + if (a != AltosLib.MISSING && g != AltosLib.MISSING) + gps_height = a - g; + else + gps_height = AltosLib.MISSING; + } + + void set(double a, double t) { + super.set(a, t); + set_gps_height(); + } + } + + private AltosGpsAltitude gps_altitude; + public double altitude() { double a = altitude.value(); if (a != AltosLib.MISSING) return a; - if (gps != null) - return gps.alt; - return AltosLib.MISSING; + return gps_altitude.value(); } public double max_altitude() { double a = altitude.max(); if (a != AltosLib.MISSING) return a; - return AltosLib.MISSING; + return gps_altitude.max(); } public void set_altitude(double new_altitude) { altitude.set_measured(new_altitude, time); } + public double gps_altitude() { + return gps_altitude.value(); + } + + public double max_gps_altitude() { + return gps_altitude.max(); + } + + public void set_gps_altitude(double new_gps_altitude) { + gps_altitude.set(new_gps_altitude, time); + } + class AltosPressure extends AltosValue { void set(double p, double time) { super.set(p, time); @@ -408,6 +462,24 @@ public class AltosState implements Cloneable { return AltosLib.MISSING; } + public double gps_height() { + double a = gps_altitude(); + double g = gps_ground_altitude(); + + if (a != AltosLib.MISSING && g != AltosLib.MISSING) + return a - g; + return AltosLib.MISSING; + } + + public double max_gps_height() { + double a = gps_altitude.max(); + double g = gps_ground_altitude(); + + if (a != AltosLib.MISSING && g != AltosLib.MISSING) + return a - g; + return AltosLib.MISSING; + } + class AltosSpeed extends AltosCValue { void set_accel() { @@ -608,6 +680,9 @@ public class AltosState implements Cloneable { pad_lon = AltosLib.MISSING; pad_alt = AltosLib.MISSING; + gps_altitude = new AltosGpsAltitude(); + gps_ground_altitude = new AltosGpsGroundAltitude(); + speak_tick = AltosLib.MISSING; speak_altitude = AltosLib.MISSING; @@ -730,6 +805,10 @@ public class AltosState implements Cloneable { range = old.range; gps_height = old.gps_height; + + gps_altitude.copy(old.gps_altitude); + gps_ground_altitude.copy(old.gps_ground_altitude); + pad_lat = old.pad_lat; pad_lon = old.pad_lon; pad_alt = old.pad_alt; @@ -771,14 +850,15 @@ public class AltosState implements Cloneable { if (pad_lat != AltosLib.MISSING) { pad_lat = (pad_lat * 31 + gps.lat) / 32; pad_lon = (pad_lon * 31 + gps.lon) / 32; - pad_alt = (pad_alt * 31 + gps.alt) / 32; + gps_ground_altitude.set_filtered(gps.alt, time); } } if (pad_lat == AltosLib.MISSING) { pad_lat = gps.lat; pad_lon = gps.lon; - pad_alt = gps.alt; + gps_ground_altitude.set(gps.alt, time); } + gps_altitude.set(gps.alt, time); } if (gps.lat != 0 && gps.lon != 0 && pad_lat != AltosLib.MISSING && @@ -791,7 +871,6 @@ public class AltosState implements Cloneable { from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h); elevation = from_pad.elevation; range = from_pad.range; - gps_height = gps.alt - pad_alt; } } |