diff options
Diffstat (limited to 'altoslib/AltosState.java')
| -rw-r--r-- | altoslib/AltosState.java | 20 |
1 files changed, 15 insertions, 5 deletions
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index daf06c19..52650062 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -104,6 +104,7 @@ public class AltosState implements Cloneable { public double accel_minus_g; public double accel; public double ground_accel; + public double ground_accel_avg; public int log_format; @@ -201,6 +202,7 @@ public class AltosState implements Cloneable { accel_minus_g = AltosRecord.MISSING; accel = AltosRecord.MISSING; ground_accel = AltosRecord.MISSING; + ground_accel_avg = AltosRecord.MISSING; log_format = AltosRecord.MISSING; serial = AltosRecord.MISSING; @@ -306,6 +308,7 @@ public class AltosState implements Cloneable { accel_minus_g = old.accel_minus_g; accel = old.accel; ground_accel = old.ground_accel; + ground_accel_avg = old.ground_accel_avg; log_format = old.log_format; serial = old.serial; @@ -396,9 +399,13 @@ public class AltosState implements Cloneable { } void update_accel() { + double ground = ground_accel; + + if (ground == AltosRecord.MISSING) + ground = ground_accel_avg; if (accel == AltosRecord.MISSING) return; - if (ground_accel == AltosRecord.MISSING) + if (ground == AltosRecord.MISSING) return; if (accel_plus_g == AltosRecord.MISSING) return; @@ -408,7 +415,7 @@ public class AltosState implements Cloneable { double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0; double counts_per_mss = counts_per_g / 9.80665; - acceleration = (ground_accel - accel) / counts_per_mss; + acceleration = (ground - accel) / counts_per_mss; /* Only look at accelerometer data under boost */ if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration)) @@ -556,9 +563,6 @@ public class AltosState implements Cloneable { public void set_gps(AltosGPS gps, int sequence) { if (gps != null) { - System.out.printf ("gps date: %d-%d-%d time %d:%d:%d\n", - gps.year, gps.month, gps.day, - gps.hour, gps.minute, gps.second); this.gps = gps.clone(); gps_sequence = sequence; update_gps(); @@ -623,6 +627,12 @@ public class AltosState implements Cloneable { public void set_accel(double accel) { if (accel != AltosRecord.MISSING) { this.accel = accel; + if (state == AltosLib.ao_flight_pad) { + if (ground_accel_avg == AltosRecord.MISSING) + ground_accel_avg = accel; + else + ground_accel_avg = (ground_accel_avg * 7 + accel) / 8; + } } update_accel(); } |