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-rw-r--r--altoslib/AltosConfigData.java6
-rw-r--r--altoslib/AltosFlightReader.java4
-rw-r--r--altoslib/AltosGPS.java57
-rw-r--r--altoslib/AltosIdleMonitor.java6
-rw-r--r--altoslib/AltosLink.java57
-rw-r--r--altoslib/AltosListenerState.java28
-rw-r--r--altoslib/AltosRecord.java24
-rw-r--r--altoslib/AltosSensorMM.java122
-rw-r--r--altoslib/AltosSensorTM.java80
-rw-r--r--altoslib/AltosState.java21
-rw-r--r--altoslib/AltosTelemetryReader.java8
-rw-r--r--altoslib/Makefile.am1
12 files changed, 261 insertions, 153 deletions
diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java
index 45b95646..57605607 100644
--- a/altoslib/AltosConfigData.java
+++ b/altoslib/AltosConfigData.java
@@ -135,6 +135,12 @@ public class AltosConfigData implements Iterable<String> {
}
}
+ public boolean has_monitor_battery() {
+ if (product.startsWith("TeleBT"))
+ return true;
+ return false;
+ }
+
int[] parse_version(String v) {
String[] parts = v.split("\\.");
int r[] = new int[parts.length];
diff --git a/altoslib/AltosFlightReader.java b/altoslib/AltosFlightReader.java
index 3039b4dc..34526658 100644
--- a/altoslib/AltosFlightReader.java
+++ b/altoslib/AltosFlightReader.java
@@ -45,4 +45,8 @@ public class AltosFlightReader {
public boolean supports_telemetry(int telemetry) { return false; }
public File backing_file() { return null; }
+
+ public boolean has_monitor_battery() { return false; }
+
+ public double monitor_battery() { return AltosRecord.MISSING; }
}
diff --git a/altoslib/AltosGPS.java b/altoslib/AltosGPS.java
index 068d8c9c..f23842f3 100644
--- a/altoslib/AltosGPS.java
+++ b/altoslib/AltosGPS.java
@@ -217,33 +217,38 @@ public class AltosGPS {
}
public AltosGPS(AltosGPS old) {
- nsat = old.nsat;
- locked = old.locked;
- connected = old.connected;
- lat = old.lat; /* degrees (+N -S) */
- lon = old.lon; /* degrees (+E -W) */
- alt = old.alt; /* m */
- year = old.year;
- month = old.month;
- day = old.day;
- hour = old.hour;
- minute = old.minute;
- second = old.second;
-
- ground_speed = old.ground_speed; /* m/s */
- course = old.course; /* degrees */
- climb_rate = old.climb_rate; /* m/s */
- hdop = old.hdop; /* unitless? */
- h_error = old.h_error; /* m */
- v_error = old.v_error; /* m */
-
- if (old.cc_gps_sat != null) {
- cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
- for (int i = 0; i < old.cc_gps_sat.length; i++) {
- cc_gps_sat[i] = new AltosGPSSat();
- cc_gps_sat[i].svid = old.cc_gps_sat[i].svid;
- cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0;
+ if (old != null) {
+ nsat = old.nsat;
+ locked = old.locked;
+ connected = old.connected;
+ lat = old.lat; /* degrees (+N -S) */
+ lon = old.lon; /* degrees (+E -W) */
+ alt = old.alt; /* m */
+ year = old.year;
+ month = old.month;
+ day = old.day;
+ hour = old.hour;
+ minute = old.minute;
+ second = old.second;
+
+ ground_speed = old.ground_speed; /* m/s */
+ course = old.course; /* degrees */
+ climb_rate = old.climb_rate; /* m/s */
+ hdop = old.hdop; /* unitless? */
+ h_error = old.h_error; /* m */
+ v_error = old.v_error; /* m */
+
+ if (old.cc_gps_sat != null) {
+ cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
+ for (int i = 0; i < old.cc_gps_sat.length; i++) {
+ cc_gps_sat[i] = new AltosGPSSat();
+ cc_gps_sat[i].svid = old.cc_gps_sat[i].svid;
+ cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0;
+ }
}
+ } else {
+ ClearGPSTime();
+ cc_gps_sat = null;
}
}
}
diff --git a/altoslib/AltosIdleMonitor.java b/altoslib/AltosIdleMonitor.java
index f2f75bbb..ec51b9c1 100644
--- a/altoslib/AltosIdleMonitor.java
+++ b/altoslib/AltosIdleMonitor.java
@@ -116,8 +116,10 @@ public class AltosIdleMonitor extends Thread {
} finally {
if (remote) {
link.stop_remote();
- if (record != null)
- record.rssi = AltosRSSI();
+ if (record != null) {
+ record.rssi = link.rssi();
+ record.monitor_battery = link.monitor_battery();
+ }
} else {
if (record != null)
record.rssi = 0;
diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java
index 9eb25ce0..159ebfe1 100644
--- a/altoslib/AltosLink.java
+++ b/altoslib/AltosLink.java
@@ -364,6 +364,63 @@ public abstract class AltosLink implements Runnable {
remote = false;
}
+ public int rssi() throws TimeoutException, InterruptedException {
+ if (remote)
+ return 0;
+ printf("s\n");
+ String line = get_reply_no_dialog(5000);
+ if (line == null)
+ throw new TimeoutException();
+ String[] items = line.split("\\s+");
+ if (items.length < 2)
+ return 0;
+ if (!items[0].equals("RSSI:"))
+ return 0;
+ int rssi = Integer.parseInt(items[1]);
+ return rssi;
+ }
+
+ public String[] adc() throws TimeoutException, InterruptedException {
+ printf("a\n");
+ for (;;) {
+ String line = get_reply_no_dialog(5000);
+ if (line == null) {
+ throw new TimeoutException();
+ }
+ if (!line.startsWith("tick:"))
+ continue;
+ String[] items = line.split("\\s+");
+ return items;
+ }
+ }
+
+ public boolean has_monitor_battery() {
+ return config_data.has_monitor_battery();
+ }
+
+ public double monitor_battery() {
+ int monitor_batt = AltosRecord.MISSING;
+
+ if (config_data.has_monitor_battery()) {
+ try {
+ String[] items = adc();
+ for (int i = 0; i < items.length;) {
+ if (items[i].equals("batt")) {
+ monitor_batt = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ i++;
+ }
+ } catch (InterruptedException ie) {
+ } catch (TimeoutException te) {
+ }
+ }
+ if (monitor_batt == AltosRecord.MISSING)
+ return AltosRecord.MISSING;
+ return AltosConvert.cc_battery_to_voltage(monitor_batt);
+ }
+
public AltosLink() {
callsign = "";
}
diff --git a/altoslib/AltosListenerState.java b/altoslib/AltosListenerState.java
new file mode 100644
index 00000000..2fb4673e
--- /dev/null
+++ b/altoslib/AltosListenerState.java
@@ -0,0 +1,28 @@
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.altoslib_1;
+
+public class AltosListenerState {
+ public int crc_errors;
+ public double battery;
+
+ public AltosListenerState() {
+ crc_errors = 0;
+ battery = AltosRecord.MISSING;
+ }
+}
diff --git a/altoslib/AltosRecord.java b/altoslib/AltosRecord.java
index f8c44cc5..7046b9f1 100644
--- a/altoslib/AltosRecord.java
+++ b/altoslib/AltosRecord.java
@@ -17,7 +17,7 @@
package org.altusmetrum.altoslib_1;
-public abstract class AltosRecord implements Comparable <AltosRecord>, Cloneable {
+public class AltosRecord implements Comparable <AltosRecord>, Cloneable {
public static final int seen_flight = 1;
public static final int seen_sensor = 2;
@@ -75,15 +75,17 @@ public abstract class AltosRecord implements Comparable <AltosRecord>, Cloneable
* temperature: °C
*/
- abstract public double pressure();
- abstract public double ground_pressure();
- abstract public double acceleration();
+ public double pressure() { return MISSING; }
+ public double ground_pressure() { return MISSING; }
+ public double acceleration() { return MISSING; }
public double altitude() {
double p = pressure();
- if (p == MISSING)
+ if (p == MISSING) {
+ System.out.printf ("altitude missing\n");
return MISSING;
+ }
return AltosConvert.pressure_to_altitude(p);
}
@@ -126,7 +128,11 @@ public abstract class AltosRecord implements Comparable <AltosRecord>, Cloneable
return tick - o.tick;
}
- abstract public AltosRecord clone();
+ public AltosRecord clone() {
+ AltosRecord n = new AltosRecord();
+ n.copy(this);
+ return n;
+ }
public void copy(AltosRecord old) {
seen = old.seen;
@@ -150,13 +156,13 @@ public abstract class AltosRecord implements Comparable <AltosRecord>, Cloneable
seen = 0;
version = 0;
callsign = "N0CALL";
- serial = 0;
- flight = 0;
+ serial = MISSING;
+ flight = MISSING;
rssi = 0;
status = 0;
state = AltosLib.ao_flight_startup;
tick = 0;
- gps = new AltosGPS();
+ gps = null;
new_gps = false;
companion = null;
diff --git a/altoslib/AltosSensorMM.java b/altoslib/AltosSensorMM.java
index 8372d047..6d1b61c0 100644
--- a/altoslib/AltosSensorMM.java
+++ b/altoslib/AltosSensorMM.java
@@ -28,75 +28,65 @@ class AltosSensorMM {
int accel_ref;
public AltosSensorMM(AltosLink link) throws InterruptedException, TimeoutException {
- link.printf("a\n");
- for (;;) {
- String line = link.get_reply_no_dialog(5000);
- if (line == null) {
- throw new TimeoutException();
+ String[] items = link.adc();
+ sense = new int[6];
+ for (int i = 0; i < items.length;) {
+ if (items[i].equals("tick:")) {
+ tick = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("0:")) {
+ sense[0] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("1:")) {
+ sense[1] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("2:")) {
+ sense[2] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("3:")) {
+ sense[3] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("4:")) {
+ sense[4] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("5:")) {
+ sense[5] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("6:")) {
+ v_batt = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("7:")) {
+ v_pyro = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("8:")) {
+ accel = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
}
- if (!line.startsWith("tick:"))
+ if (items[i].equals("9:")) {
+ accel_ref = Integer.parseInt(items[i+1]);
+ i += 2;
continue;
- String[] items = line.split("\\s+");
- sense = new int[6];
- for (int i = 0; i < items.length;) {
- if (items[i].equals("tick:")) {
- tick = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("0:")) {
- sense[0] = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("1:")) {
- sense[1] = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("2:")) {
- sense[2] = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("3:")) {
- sense[3] = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("4:")) {
- sense[4] = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("5:")) {
- sense[5] = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("6:")) {
- v_batt = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("7:")) {
- v_pyro = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("8:")) {
- accel = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("9:")) {
- accel_ref = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- i++;
}
- break;
+ i++;
}
}
}
diff --git a/altoslib/AltosSensorTM.java b/altoslib/AltosSensorTM.java
index f5fa83a5..754dc5bb 100644
--- a/altoslib/AltosSensorTM.java
+++ b/altoslib/AltosSensorTM.java
@@ -23,54 +23,44 @@ class AltosSensorTM extends AltosRecordTM {
public AltosSensorTM(AltosLink link, AltosConfigData config_data) throws InterruptedException, TimeoutException {
super();
- link.printf("a\n");
- for (;;) {
- String line = link.get_reply_no_dialog(5000);
- if (line == null) {
- throw new TimeoutException();
+ String[] items = link.adc();
+ for (int i = 0; i < items.length;) {
+ if (items[i].equals("tick:")) {
+ tick = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("accel:")) {
+ accel = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("pres:")) {
+ pres = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("temp:")) {
+ temp = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("batt:")) {
+ batt = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("drogue:")) {
+ drogue = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
}
- if (!line.startsWith("tick:"))
+ if (items[i].equals("main:")) {
+ main = Integer.parseInt(items[i+1]);
+ i += 2;
continue;
- String[] items = line.split("\\s+");
- for (int i = 0; i < items.length;) {
- if (items[i].equals("tick:")) {
- tick = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("accel:")) {
- accel = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("pres:")) {
- pres = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("temp:")) {
- temp = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("batt:")) {
- batt = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("drogue:")) {
- drogue = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- if (items[i].equals("main:")) {
- main = Integer.parseInt(items[i+1]);
- i += 2;
- continue;
- }
- i++;
}
- break;
+ i++;
}
ground_accel = config_data.accel_cal_plus;
ground_pres = pres;
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index 8a3bbd4c..f1bcb1c1 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -155,30 +155,41 @@ public class AltosState {
/* compute barometric speed */
double height_change = height - prev_state.height;
+
+ double prev_baro_speed = prev_state.baro_speed;
+ if (prev_baro_speed == AltosRecord.MISSING)
+ prev_baro_speed = 0;
+
if (time_change > 0)
- baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
+ baro_speed = (prev_baro_speed * 3 + (height_change / time_change)) / 4.0;
else
baro_speed = prev_state.baro_speed;
+ double prev_accel_speed = prev_state.accel_speed;
+
+ if (prev_accel_speed == AltosRecord.MISSING)
+ prev_accel_speed = 0;
+
if (acceleration == AltosRecord.MISSING) {
/* Fill in mising acceleration value */
accel_speed = baro_speed;
- if (time_change > 0)
- acceleration = (accel_speed - prev_state.accel_speed) / time_change;
+
+ if (time_change > 0 && accel_speed != AltosRecord.MISSING)
+ acceleration = (accel_speed - prev_accel_speed) / time_change;
else
acceleration = prev_state.acceleration;
} else {
/* compute accelerometer speed */
- accel_speed = prev_state.accel_speed + acceleration * time_change;
+ accel_speed = prev_accel_speed + acceleration * time_change;
}
}
-
} else {
npad = 0;
ngps = 0;
gps = null;
baro_speed = AltosRecord.MISSING;
accel_speed = AltosRecord.MISSING;
+ pad_alt = AltosRecord.MISSING;
max_baro_speed = 0;
max_accel_speed = 0;
max_height = 0;
diff --git a/altoslib/AltosTelemetryReader.java b/altoslib/AltosTelemetryReader.java
index f365b821..b4293c73 100644
--- a/altoslib/AltosTelemetryReader.java
+++ b/altoslib/AltosTelemetryReader.java
@@ -107,6 +107,14 @@ public class AltosTelemetryReader extends AltosFlightReader {
return log.file();
}
+ public boolean has_monitor_battery() {
+ return link.has_monitor_battery();
+ }
+
+ public double monitor_battery() {
+ return link.monitor_battery();
+ }
+
public AltosTelemetryReader (AltosLink in_link)
throws IOException, InterruptedException, TimeoutException {
link = in_link;
diff --git a/altoslib/Makefile.am b/altoslib/Makefile.am
index 8e5701ad..30a9d954 100644
--- a/altoslib/Makefile.am
+++ b/altoslib/Makefile.am
@@ -37,6 +37,7 @@ altoslib_JAVA = \
AltosIMUQuery.java \
AltosLine.java \
AltosLink.java \
+ AltosListenerState.java \
AltosLog.java \
AltosMs5607.java \
AltosMs5607Query.java \
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-17 17:55:26 +0000