diff options
Diffstat (limited to 'altoslib/AltosState.java')
| -rw-r--r-- | altoslib/AltosState.java | 670 |
1 files changed, 83 insertions, 587 deletions
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index 8c3f93f0..9ee3d57d 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -20,11 +20,9 @@ * Track flight state from telemetry or eeprom data stream */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; -import java.io.*; - -public class AltosState implements Cloneable { +public class AltosState extends AltosDataListener { public static final int set_position = 1; public static final int set_gps = 2; @@ -40,12 +38,8 @@ public class AltosState implements Cloneable { public long received_time; - public double time; - public double prev_time; - public double time_change; - public int tick; - private int prev_tick; - public int boost_tick; + public int rssi; + public int status; class AltosValue { double value; @@ -290,22 +284,9 @@ public class AltosState implements Cloneable { } } - private int state; - public int flight; - public int serial; - public int altitude_32; - public int receiver_serial; public boolean landed; public boolean ascent; /* going up? */ public boolean boost; /* under power */ - public int rssi; - public int status; - public int device_type; - public int config_major; - public int config_minor; - public int apogee_delay; - public int main_deploy; - public int flight_log_max; private double pressure_to_altitude(double p) { if (p == AltosLib.MISSING) @@ -448,6 +429,11 @@ public class AltosState implements Cloneable { } public void set_altitude(double new_altitude) { + double old_altitude = altitude.value(); + if (old_altitude != AltosLib.MISSING) { + while (old_altitude - new_altitude > 32000) + new_altitude += 65536.0; + } altitude.set_measured(new_altitude, time); } @@ -515,6 +501,9 @@ public class AltosState implements Cloneable { pressure.set(p, time); } + public void set_thrust(double N) { + } + public double baro_height() { double a = altitude(); double g = ground_altitude(); @@ -667,6 +656,11 @@ public class AltosState implements Cloneable { public AltosValue kalman_height, kalman_speed, kalman_acceleration; public void set_kalman(double height, double speed, double acceleration) { + double old_height = kalman_height.value(); + if (old_height != AltosLib.MISSING) { + while (old_height - height > 32000) + height += 65536; + } kalman_height.set(height, time); kalman_speed.set(speed, time); kalman_acceleration.set(acceleration, time); @@ -678,16 +672,10 @@ public class AltosState implements Cloneable { public double apogee_voltage; public double main_voltage; - public double ignitor_voltage[]; + public double igniter_voltage[]; public AltosGPS gps; - public AltosGPS temp_gps; - public int temp_gps_sat_tick; public boolean gps_pending; - public int gps_sequence; - - public AltosIMU imu; - public AltosMag mag; public static final int MIN_PAD_SAMPLES = 10; @@ -699,6 +687,7 @@ public class AltosState implements Cloneable { public AltosGreatCircle from_pad; public double elevation; /* from pad */ + public double distance; /* distance along ground */ public double range; /* total distance */ public double gps_height; @@ -708,20 +697,7 @@ public class AltosState implements Cloneable { public int speak_tick; public double speak_altitude; - public String callsign; - public String firmware_version; - - public double accel_plus_g; - public double accel_minus_g; - public double accel; public double ground_accel; - public double ground_accel_avg; - - public int log_format; - public int log_space; - public String product; - - public AltosMs5607 baro; public AltosCompanion companion; @@ -740,23 +716,11 @@ public class AltosState implements Cloneable { received_time = System.currentTimeMillis(); time = AltosLib.MISSING; - time_change = AltosLib.MISSING; - prev_time = AltosLib.MISSING; - tick = AltosLib.MISSING; - prev_tick = AltosLib.MISSING; - boost_tick = AltosLib.MISSING; state = AltosLib.ao_flight_invalid; - flight = AltosLib.MISSING; landed = false; boost = false; rssi = AltosLib.MISSING; status = 0; - device_type = AltosLib.MISSING; - config_major = AltosLib.MISSING; - config_minor = AltosLib.MISSING; - apogee_delay = AltosLib.MISSING; - main_deploy = AltosLib.MISSING; - flight_log_max = AltosLib.MISSING; ground_altitude = new AltosCValue(); ground_pressure = new AltosGroundPressure(); @@ -771,43 +735,40 @@ public class AltosState implements Cloneable { 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(); kalman_acceleration = new AltosValue(); gps = null; - temp_gps = null; - temp_gps_sat_tick = 0; - gps_sequence = 0; gps_pending = false; - imu = null; last_imu_time = AltosLib.MISSING; rotation = null; - ground_rotation = null; - - mag = null; - accel_zero_along = AltosLib.MISSING; - accel_zero_across = AltosLib.MISSING; - accel_zero_through = AltosLib.MISSING; accel_ground_along = AltosLib.MISSING; accel_ground_across = AltosLib.MISSING; accel_ground_through = AltosLib.MISSING; - pad_orientation = AltosLib.MISSING; + accel_along = AltosLib.MISSING; + accel_across = AltosLib.MISSING; + accel_through = AltosLib.MISSING; - gyro_zero_roll = AltosLib.MISSING; - gyro_zero_pitch = AltosLib.MISSING; - gyro_zero_yaw = AltosLib.MISSING; + gyro_roll = AltosLib.MISSING; + gyro_pitch = AltosLib.MISSING; + gyro_yaw = AltosLib.MISSING; + + mag_along = AltosLib.MISSING; + mag_across = AltosLib.MISSING; + mag_through = AltosLib.MISSING; set_npad(0); ngps = 0; from_pad = null; elevation = AltosLib.MISSING; + distance = AltosLib.MISSING; range = AltosLib.MISSING; gps_height = AltosLib.MISSING; @@ -825,32 +786,14 @@ public class AltosState implements Cloneable { speak_tick = AltosLib.MISSING; speak_altitude = AltosLib.MISSING; - callsign = null; - firmware_version = null; - - accel_plus_g = AltosLib.MISSING; - accel_minus_g = AltosLib.MISSING; - accel = AltosLib.MISSING; - ground_accel = AltosLib.MISSING; - ground_accel_avg = AltosLib.MISSING; - - log_format = AltosLib.MISSING; - log_space = AltosLib.MISSING; - product = null; - serial = AltosLib.MISSING; - receiver_serial = AltosLib.MISSING; - altitude_32 = AltosLib.MISSING; - baro = null; companion = null; pyro_fired = 0; } void finish_update() { - prev_tick = tick; - ground_altitude.finish_update(); altitude.finish_update(); pressure.finish_update(); @@ -863,156 +806,12 @@ public class AltosState implements Cloneable { kalman_acceleration.finish_update(); } - void copy(AltosState old) { - - if (old == null) { - init(); - return; - } - - received_time = old.received_time; - time = old.time; - time_change = old.time_change; - prev_time = old.time; - - tick = old.tick; - prev_tick = old.tick; - boost_tick = old.boost_tick; - - state = old.state; - flight = old.flight; - landed = old.landed; - ascent = old.ascent; - boost = old.boost; - rssi = old.rssi; - status = old.status; - device_type = old.device_type; - config_major = old.config_major; - config_minor = old.config_minor; - apogee_delay = old.apogee_delay; - main_deploy = old.main_deploy; - flight_log_max = old.flight_log_max; - - set = 0; - - ground_pressure.copy(old.ground_pressure); - ground_altitude.copy(old.ground_altitude); - altitude.copy(old.altitude); - pressure.copy(old.pressure); - speed.copy(old.speed); - acceleration.copy(old.acceleration); - orient.copy(old.orient); - - battery_voltage = old.battery_voltage; - pyro_voltage = old.pyro_voltage; - temperature = old.temperature; - apogee_voltage = old.apogee_voltage; - main_voltage = old.main_voltage; - ignitor_voltage = old.ignitor_voltage; - - kalman_height.copy(old.kalman_height); - kalman_speed.copy(old.kalman_speed); - kalman_acceleration.copy(old.kalman_acceleration); - - if (old.gps != null) - gps = old.gps.clone(); - else - gps = null; - if (old.temp_gps != null) - temp_gps = old.temp_gps.clone(); - else - temp_gps = null; - temp_gps_sat_tick = old.temp_gps_sat_tick; - gps_sequence = old.gps_sequence; - gps_pending = old.gps_pending; - - if (old.imu != null) - imu = old.imu.clone(); - else - imu = null; - last_imu_time = old.last_imu_time; - - if (old.rotation != null) - rotation = new AltosRotation (old.rotation); - - if (old.ground_rotation != null) { - ground_rotation = new AltosRotation(old.ground_rotation); - } - - accel_zero_along = old.accel_zero_along; - accel_zero_across = old.accel_zero_across; - accel_zero_through = old.accel_zero_through; - - accel_ground_along = old.accel_ground_along; - accel_ground_across = old.accel_ground_across; - accel_ground_through = old.accel_ground_through; - pad_orientation = old.pad_orientation; - - gyro_zero_roll = old.gyro_zero_roll; - gyro_zero_pitch = old.gyro_zero_pitch; - gyro_zero_yaw = old.gyro_zero_yaw; - - if (old.mag != null) - mag = old.mag.clone(); - else - mag = null; - - npad = old.npad; - gps_waiting = old.gps_waiting; - gps_ready = old.gps_ready; - ngps = old.ngps; - - if (old.from_pad != null) - from_pad = old.from_pad.clone(); - else - from_pad = null; - - elevation = old.elevation; - range = old.range; - - gps_height = old.gps_height; - - gps_altitude.copy(old.gps_altitude); - gps_ground_altitude.copy(old.gps_ground_altitude); - gps_ground_speed.copy(old.gps_ground_speed); - gps_ascent_rate.copy(old.gps_ascent_rate); - gps_course.copy(old.gps_course); - gps_speed.copy(old.gps_speed); - - pad_lat = old.pad_lat; - pad_lon = old.pad_lon; - pad_alt = old.pad_alt; - - speak_tick = old.speak_tick; - speak_altitude = old.speak_altitude; - - callsign = old.callsign; - firmware_version = old.firmware_version; - - accel_plus_g = old.accel_plus_g; - 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; - log_space = old.log_space; - product = old.product; - serial = old.serial; - receiver_serial = old.receiver_serial; - altitude_32 = old.altitude_32; - - baro = old.baro; - companion = old.companion; - - pyro_fired = old.pyro_fired; - } - void update_time() { } void update_gps() { elevation = AltosLib.MISSING; + distance = AltosLib.MISSING; range = AltosLib.MISSING; if (gps == null) @@ -1054,36 +853,15 @@ public class AltosState implements Cloneable { h = 0; from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h); elevation = from_pad.elevation; + distance = from_pad.distance; range = from_pad.range; } } - public void set_tick(int new_tick) { - if (new_tick != AltosLib.MISSING) { - if (prev_tick != AltosLib.MISSING) { - while (new_tick < prev_tick - 1000) { - new_tick += 65536; - } - } - tick = new_tick; - time = tick / 100.0; - time_change = time - prev_time; - } - } - - public void set_boost_tick(int boost_tick) { - if (boost_tick != AltosLib.MISSING) - this.boost_tick = boost_tick; - } - public String state_name() { return AltosLib.state_name(state); } - public void set_product(String product) { - this.product = product; - } - public void set_state(int state) { if (state != AltosLib.ao_flight_invalid) { this.state = state; @@ -1097,96 +875,8 @@ public class AltosState implements Cloneable { return state; } - public void set_device_type(int device_type) { - this.device_type = device_type; - switch (device_type) { - case AltosLib.product_telegps: - this.state = AltosLib.ao_flight_stateless; - break; - } - } - - public void set_log_format(int log_format) { - this.log_format = log_format; - switch (log_format) { - case AltosLib.AO_LOG_FORMAT_TELEGPS: - this.state = AltosLib.ao_flight_stateless; - break; - } - } - - public void set_log_space(int log_space) { - this.log_space = log_space; - } - - public void set_flight_params(int apogee_delay, int main_deploy) { - this.apogee_delay = apogee_delay; - this.main_deploy = main_deploy; - } - - public void set_config(int major, int minor, int flight_log_max) { - config_major = major; - config_minor = minor; - this.flight_log_max = flight_log_max; - } - - public void set_callsign(String callsign) { - this.callsign = callsign; - } - - public void set_firmware_version(String version) { - 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; init(); - boost_tick = bt; - receiver_serial = rs; - } - - public void set_flight(int flight) { - - /* When the flight changes, reset the state */ - if (flight != AltosLib.MISSING) { - if (this.flight != AltosLib.MISSING && - this.flight != flight) { - re_init(); - } - this.flight = flight; - } - } - - public void set_serial(int serial) { - /* When the serial changes, reset the state */ - if (serial != AltosLib.MISSING) { - if (this.serial != AltosLib.MISSING && - this.serial != serial) { - re_init(); - } - this.serial = serial; - } - } - - public void set_receiver_serial(int serial) { - if (serial != AltosLib.MISSING) - receiver_serial = serial; - } - - public boolean altitude_32() { - return altitude_32 == 1; - } - - public void set_altitude_32(int altitude_32) { - if (altitude_32 != AltosLib.MISSING) - this.altitude_32 = altitude_32; } public int rssi() { @@ -1206,42 +896,24 @@ public class AltosState implements Cloneable { received_time = ms; } - public void set_gps(AltosGPS gps, int sequence) { + public void set_gps(AltosGPS gps) { if (gps != null) { - this.gps = gps.clone(); - gps_sequence = sequence; + this.gps = gps; update_gps(); set |= set_gps; } } - - public double accel_zero_along; - public double accel_zero_across; - public double accel_zero_through; - public AltosRotation rotation; - public AltosRotation ground_rotation; - - public void set_accel_zero(double zero_along, double zero_across, double zero_through) { - if (zero_along != AltosLib.MISSING) { - accel_zero_along = zero_along; - accel_zero_across = zero_across; - accel_zero_through = zero_through; - } - } - - public int pad_orientation; public double accel_ground_along, accel_ground_across, accel_ground_through; void update_pad_rotation() { - if (pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) { - rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - accel_zero_across), - AltosIMU.convert_accel(accel_ground_through - accel_zero_through), - AltosIMU.convert_accel(accel_ground_along - accel_zero_along), - pad_orientation); - ground_rotation = rotation; + if (cal_data().pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) { + rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data().accel_zero_across), + AltosIMU.convert_accel(accel_ground_through - cal_data().accel_zero_through), + AltosIMU.convert_accel(accel_ground_along - cal_data().accel_zero_along), + cal_data().pad_orientation); orient.set_computed(rotation.tilt(), time); } } @@ -1253,197 +925,95 @@ public class AltosState implements Cloneable { update_pad_rotation(); } - public void set_pad_orientation(int pad_orientation) { - this.pad_orientation = pad_orientation; - update_pad_rotation(); - } - - public double gyro_zero_roll; - public double gyro_zero_pitch; - public double gyro_zero_yaw; - - public void set_gyro_zero(double roll, double pitch, double yaw) { - if (roll != AltosLib.MISSING) { - gyro_zero_roll = roll; - gyro_zero_pitch = pitch; - gyro_zero_yaw = yaw; - } - } - public double last_imu_time; - private double radians(double degrees) { - if (degrees == AltosLib.MISSING) - return AltosLib.MISSING; - return degrees * Math.PI / 180.0; - } - private void update_orient() { if (last_imu_time != AltosLib.MISSING) { double t = time - last_imu_time; - double pitch = radians(gyro_pitch()); - double yaw = radians(gyro_yaw()); - double roll = radians(gyro_roll()); + if (t > 0 && gyro_pitch != AltosLib.MISSING && rotation != null) { + double pitch = AltosConvert.degrees_to_radians(gyro_pitch) * t; + double yaw = AltosConvert.degrees_to_radians(gyro_yaw) * t; + double roll = AltosConvert.degrees_to_radians(gyro_roll) * t; - if (t > 0 & pitch != AltosLib.MISSING && rotation != null) { - rotation.rotate(t, pitch, yaw, roll); + rotation.rotate(pitch, yaw, roll); orient.set_computed(rotation.tilt(), time); } } last_imu_time = time; } - public void set_imu(AltosIMU imu) { - if (imu != null) - imu = imu.clone(); - this.imu = imu; + private double gyro_roll, gyro_pitch, gyro_yaw; + + public void set_gyro(double roll, double pitch, double yaw) { + gyro_roll = roll; + gyro_pitch = pitch; + gyro_yaw = yaw; update_orient(); } - private double gyro_zero_overflow(double first) { - double v = first / 128.0; - if (v < 0) - v = Math.ceil(v); - else - v = Math.floor(v); - return v * 128.0; - } + private double accel_along, accel_across, accel_through; - public void check_imu_wrap(AltosIMU imu) { - if (this.imu == null) { - gyro_zero_roll += gyro_zero_overflow(imu.gyro_roll); - gyro_zero_pitch += gyro_zero_overflow(imu.gyro_pitch); - gyro_zero_yaw += gyro_zero_overflow(imu.gyro_yaw); - } + public void set_accel(double along, double across, double through) { + accel_along = along; + accel_across = across; + accel_through = through; + update_orient(); } public double accel_along() { - if (imu != null && accel_zero_along != AltosLib.MISSING) - return AltosIMU.convert_accel(imu.accel_along - accel_zero_along); - return AltosLib.MISSING; + return accel_along; } public double accel_across() { - if (imu != null && accel_zero_across != AltosLib.MISSING) - return AltosIMU.convert_accel(imu.accel_across - accel_zero_across); - return AltosLib.MISSING; + return accel_across; } public double accel_through() { - if (imu != null && accel_zero_through != AltosLib.MISSING) - return AltosIMU.convert_accel(imu.accel_through - accel_zero_through); - return AltosLib.MISSING; + return accel_through; } public double gyro_roll() { - if (imu != null && gyro_zero_roll != AltosLib.MISSING) { - return AltosIMU.convert_gyro(imu.gyro_roll - gyro_zero_roll); - } - return AltosLib.MISSING; + return gyro_roll; } public double gyro_pitch() { - if (imu != null && gyro_zero_pitch != AltosLib.MISSING) { - return AltosIMU.convert_gyro(imu.gyro_pitch - gyro_zero_pitch); - } - return AltosLib.MISSING; + return gyro_pitch; } public double gyro_yaw() { - if (imu != null && gyro_zero_yaw != AltosLib.MISSING) { - return AltosIMU.convert_gyro(imu.gyro_yaw - gyro_zero_yaw); - } - return AltosLib.MISSING; + return gyro_yaw; } - public void set_mag(AltosMag mag) { - this.mag = mag.clone(); + private double mag_along, mag_across, mag_through; + + public void set_mag(double along, double across, double through) { + mag_along = along; + mag_across = across; + mag_through = through; } public double mag_along() { - if (mag != null) - return AltosMag.convert_gauss(mag.along); - return AltosLib.MISSING; + return mag_along; } public double mag_across() { - if (mag != null) - return AltosMag.convert_gauss(mag.across); - return AltosLib.MISSING; + return mag_across; } public double mag_through() { - if (mag != null) - return AltosMag.convert_gauss(mag.through); - return AltosLib.MISSING; - } - - public AltosMs5607 make_baro() { - if (baro == null) - baro = new AltosMs5607(); - return baro; - } - - public void set_ms5607(AltosMs5607 ms5607) { - baro = ms5607; - - if (baro != null && baro.pa != AltosLib.MISSING && baro.cc != AltosLib.MISSING) { - set_pressure(baro.pa); - set_temperature(baro.cc / 100.0); - } - } - - public void set_ms5607(int pres, int temp) { - if (baro != null) { - baro.set(pres, temp); - - set_pressure(baro.pa); - set_temperature(baro.cc / 100.0); - } + return mag_through; } public void set_companion(AltosCompanion companion) { this.companion = companion; } - void update_accel() { - if (accel == AltosLib.MISSING) - return; - if (accel_plus_g == AltosLib.MISSING) - return; - if (accel_minus_g == AltosLib.MISSING) - return; - - double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0; - double counts_per_mss = counts_per_g / 9.80665; - acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time); - } - - public void set_accel_g(double accel_plus_g, double accel_minus_g) { - if (accel_plus_g != AltosLib.MISSING) { - this.accel_plus_g = accel_plus_g; - this.accel_minus_g = accel_minus_g; - update_accel(); - } - } - - public void set_ground_accel(double ground_accel) { - if (ground_accel != AltosLib.MISSING) - this.ground_accel = ground_accel; - } - - public void set_accel(double accel) { - if (accel != AltosLib.MISSING) { - this.accel = accel; - if (state == AltosLib.ao_flight_pad) { - if (ground_accel_avg == AltosLib.MISSING) - ground_accel_avg = accel; - else - ground_accel_avg = (ground_accel_avg * 7 + accel) / 8; - } + public void set_acceleration(double acceleration) { + if (acceleration != AltosLib.MISSING) { + this.acceleration.set_measured(acceleration, time); + set |= set_data; } - update_accel(); } public void set_temperature(double temperature) { @@ -1481,95 +1051,21 @@ public class AltosState implements Cloneable { } } - 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) { this.pyro_fired = fired; } - public double time_since_boost() { - if (tick == AltosLib.MISSING) - return 0.0; - - if (boost_tick == AltosLib.MISSING) - return tick / 100.0; - return (tick - boost_tick) / 100.0; - } - - public boolean valid() { - return tick != AltosLib.MISSING && serial != AltosLib.MISSING; - } - - public AltosGPS make_temp_gps(boolean sats) { - if (temp_gps == null) { - temp_gps = new AltosGPS(gps); - } - gps_pending = true; - if (sats) { - if (tick != temp_gps_sat_tick) - temp_gps.cc_gps_sat = null; - temp_gps_sat_tick = tick; - } - return temp_gps; - } - - public void set_temp_gps() { - set_gps(temp_gps, gps_sequence + 1); - gps_pending = false; - temp_gps = null; - } - - public void set_config_data(AltosConfigData config_data) { - if (config_data.callsign != null) - set_callsign(config_data.callsign); - if (config_data.accel_cal_plus != AltosLib.MISSING && - config_data.accel_cal_minus != AltosLib.MISSING) - set_accel_g(config_data.accel_cal_plus, config_data.accel_cal_minus); - if (config_data.product != null) - set_product(config_data.product); - if (config_data.log_format != AltosLib.MISSING) - set_log_format(config_data.log_format); - if (config_data.serial != AltosLib.MISSING) - set_serial(config_data.serial); - AltosMs5607 ms5607 = new AltosMs5607(config_data); - if (ms5607.valid_config()) - set_ms5607(ms5607); - } - - public AltosState clone() { - AltosState s = new AltosState(); - s.copy(this); - - /* Code to test state save/restore. Enable only for that purpose - */ - if (false) { - AltosJson json = new AltosJson(this); - String onetrip = json.toPrettyString(); - AltosJson back = AltosJson.fromString(onetrip); - AltosState tripstate = (AltosState) back.make(this.getClass()); - AltosJson tripjson = new AltosJson(tripstate); - String twotrip = tripjson.toPrettyString(); - - if (!onetrip.equals(twotrip)) { - try { - FileWriter one_file = new FileWriter("one.json", true); - one_file.write(onetrip); - one_file.flush(); - FileWriter two_file = new FileWriter("two.json", true); - two_file.write(twotrip); - two_file.flush(); - } catch (Exception e) { - } - System.out.printf("json error\n"); - System.exit(1); - } - } - return s; + public AltosState() { + Thread.dumpStack(); + init(); } - public AltosState () { + public AltosState (AltosCalData cal_data) { + super(cal_data); init(); } } |