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-rw-r--r--altoslib/AltosState.java129
1 files changed, 99 insertions, 30 deletions
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index aa3de432..b80d7b2e 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -32,7 +32,7 @@ public class AltosState implements Cloneable {
/* derived data */
- public long report_time;
+ public long received_time;
public double time;
public double prev_time;
@@ -48,6 +48,12 @@ public class AltosState implements Cloneable {
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;
public double ground_altitude;
public double ground_pressure;
@@ -61,11 +67,16 @@ public class AltosState implements Cloneable {
public double apogee_voltage;
public double main_voltage;
public double speed;
+ public double ignitor_voltage[];
public double prev_height;
public double prev_speed;
public double prev_acceleration;
+ public double prev_max_height;
+ public double prev_max_acceleration;
+ public double prev_max_speed;
+
public double max_height;
public double max_acceleration;
public double max_speed;
@@ -100,6 +111,8 @@ public class AltosState implements Cloneable {
public double speak_altitude;
public String callsign;
+ public String firmware_version;
+
public double accel_plus_g;
public double accel_minus_g;
public double accel;
@@ -133,7 +146,7 @@ public class AltosState implements Cloneable {
set = 0;
- report_time = System.currentTimeMillis();
+ received_time = System.currentTimeMillis();
time = AltosRecord.MISSING;
time_change = AltosRecord.MISSING;
prev_time = AltosRecord.MISSING;
@@ -145,6 +158,12 @@ public class AltosState implements Cloneable {
boost = false;
rssi = AltosRecord.MISSING;
status = 0;
+ device_type = AltosRecord.MISSING;
+ config_major = AltosRecord.MISSING;
+ config_minor = AltosRecord.MISSING;
+ apogee_delay = AltosRecord.MISSING;
+ main_deploy = AltosRecord.MISSING;
+ flight_log_max = AltosRecord.MISSING;
ground_altitude = AltosRecord.MISSING;
ground_pressure = AltosRecord.MISSING;
@@ -158,10 +177,15 @@ public class AltosState implements Cloneable {
prev_speed = AltosRecord.MISSING;
prev_acceleration = AltosRecord.MISSING;
+ prev_max_height = 0;
+ prev_max_speed = 0;
+ prev_max_acceleration = 0;
+
battery_voltage = AltosRecord.MISSING;
pyro_voltage = AltosRecord.MISSING;
apogee_voltage = AltosRecord.MISSING;
main_voltage = AltosRecord.MISSING;
+ ignitor_voltage = null;
speed = AltosRecord.MISSING;
@@ -219,7 +243,7 @@ public class AltosState implements Cloneable {
return;
}
- report_time = old.report_time;
+ received_time = old.received_time;
time = old.time;
time_change = 0;
tick = old.tick;
@@ -232,6 +256,12 @@ public class AltosState implements Cloneable {
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;
@@ -245,11 +275,16 @@ public class AltosState implements Cloneable {
temperature = old.temperature;
apogee_voltage = old.apogee_voltage;
main_voltage = old.main_voltage;
+ ignitor_voltage = old.ignitor_voltage;
speed = old.speed;
prev_height = old.height;
prev_speed = old.speed;
prev_acceleration = old.acceleration;
+
+ prev_max_height = old.max_height;
+ prev_max_speed = old.max_speed;
+ prev_max_acceleration = old.max_acceleration;
prev_time = old.time;
max_height = old.max_height;
@@ -343,7 +378,7 @@ public class AltosState implements Cloneable {
else
height = AltosRecord.MISSING;
- if (height != AltosRecord.MISSING && height > max_height)
+ if (height != AltosRecord.MISSING && height > prev_max_height)
max_height = height;
update_speed();
@@ -394,31 +429,34 @@ public class AltosState implements Cloneable {
}
}
}
- if (boost && speed != AltosRecord.MISSING && speed > max_speed)
+ if (boost && speed != AltosRecord.MISSING && speed > prev_max_speed)
max_speed = speed;
}
void update_accel() {
- double ground = ground_accel;
-
- if (ground == AltosRecord.MISSING)
- ground = ground_accel_avg;
- if (accel == AltosRecord.MISSING)
- return;
- if (ground == AltosRecord.MISSING)
- return;
- if (accel_plus_g == AltosRecord.MISSING)
- return;
- if (accel_minus_g == AltosRecord.MISSING)
- return;
-
- double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
- double counts_per_mss = counts_per_g / 9.80665;
-
- acceleration = (ground - accel) / counts_per_mss;
+ if (kalman_acceleration != AltosRecord.MISSING) {
+ acceleration = kalman_acceleration;
+ } else {
+ double ground = ground_accel;
+
+ if (ground == AltosRecord.MISSING)
+ ground = ground_accel_avg;
+ if (accel == AltosRecord.MISSING)
+ return;
+ if (ground == AltosRecord.MISSING)
+ return;
+ if (accel_plus_g == AltosRecord.MISSING)
+ return;
+ if (accel_minus_g == AltosRecord.MISSING)
+ return;
+
+ double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
+ double counts_per_mss = counts_per_g / 9.80665;
+ 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))
+ if (boost && acceleration != AltosRecord.MISSING && acceleration > prev_max_acceleration)
max_acceleration = acceleration;
update_speed();
}
@@ -502,6 +540,26 @@ public class AltosState implements Cloneable {
}
+ public void set_device_type(int device_type) {
+ this.device_type = device_type;
+ }
+
+ public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
+ config_major = major;
+ config_minor = minor;
+ this.apogee_delay = apogee_delay;
+ this.main_deploy = main_deploy;
+ 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 void set_flight(int flight) {
/* When the flight changes, reset the state */
@@ -538,6 +596,10 @@ public class AltosState implements Cloneable {
}
}
+ public void set_received_time(long ms) {
+ received_time = ms;
+ }
+
public void set_altitude(double altitude) {
if (altitude != AltosRecord.MISSING) {
this.altitude = altitude;
@@ -577,6 +639,8 @@ public class AltosState implements Cloneable {
kalman_speed = speed;
kalman_acceleration = acceleration;
update_vertical_pos();
+ update_speed();
+ update_accel();
}
}
@@ -672,6 +736,9 @@ public class AltosState implements Cloneable {
}
}
+ public void set_ignitor_voltage(double[] voltage) {
+ this.ignitor_voltage = voltage;
+ }
public double time_since_boost() {
if (tick == AltosRecord.MISSING)
@@ -702,6 +769,13 @@ public class AltosState implements Cloneable {
temp_gps = null;
}
+ public AltosState clone() {
+ AltosState s = new AltosState();
+ s.copy(this);
+ return s;
+ }
+
+
public void init (AltosRecord cur, AltosState prev_state) {
System.out.printf ("init\n");
@@ -721,7 +795,7 @@ public class AltosState implements Cloneable {
set_kalman(cur.kalman_height, cur.kalman_speed, cur.kalman_acceleration);
- report_time = System.currentTimeMillis();
+ received_time = System.currentTimeMillis();
set_temperature(cur.temperature());
set_apogee_voltage(cur.drogue_voltage());
@@ -742,12 +816,6 @@ public class AltosState implements Cloneable {
}
- public AltosState clone() {
- AltosState s = new AltosState();
- s.copy(this);
- return s;
- }
-
public AltosState(AltosRecord cur) {
init(cur, null);
}
@@ -756,6 +824,7 @@ public class AltosState implements Cloneable {
init(cur, prev);
}
+
public AltosState () {
init();
}
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-15 21:59:23 +0000