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-rw-r--r--ao-tools/altosui/AltosGPS.java1
-rw-r--r--ao-tools/altosui/AltosState.java86
-rw-r--r--ao-tools/altosui/AltosTelemetry.java1
-rw-r--r--ao-tools/altosui/AltosUI.java50
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;
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-30 23:27:25 +0000