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-rw-r--r--altoslib/AltosAccelCal.java21
-rw-r--r--altoslib/AltosCalData.java2
-rw-r--r--altoslib/AltosConfigData.java98
-rw-r--r--altoslib/AltosDebug.java4
-rw-r--r--altoslib/AltosFlightSeries.java9
-rw-r--r--altoslib/AltosFlightStats.java4
-rw-r--r--altoslib/AltosHexfile.java20
-rw-r--r--altoslib/AltosIMU.java35
-rw-r--r--altoslib/AltosIdleFetch.java20
-rw-r--r--altoslib/AltosLib.java3
-rw-r--r--altoslib/AltosLink.java19
-rw-r--r--altoslib/AltosPyro.java19
-rw-r--r--altoslib/AltosRomconfig.java6
13 files changed, 209 insertions, 51 deletions
diff --git a/altoslib/AltosAccelCal.java b/altoslib/AltosAccelCal.java
index 03d9fbf2..f98090ef 100644
--- a/altoslib/AltosAccelCal.java
+++ b/altoslib/AltosAccelCal.java
@@ -174,22 +174,23 @@ public class AltosAccelCal implements Runnable {
if (worked)
new_config = new AltosConfigData(link);
} finally {
+ int plus = config_data.accel_cal_plus(config_data.pad_orientation);
+ int minus = config_data.accel_cal_minus(config_data.pad_orientation);
System.out.printf("Restore orientation %d +g %d -g %d\n",
config_data.pad_orientation,
- config_data.accel_cal_plus,
- config_data.accel_cal_minus);
- if (config_data.pad_orientation != AltosLib.MISSING && config_data.pad_orientation != 0)
+ plus, minus);
+ if (config_data.pad_orientation != AltosLib.MISSING)
link.printf("c o %d\n", config_data.pad_orientation);
- if (config_data.accel_cal_plus != AltosLib.MISSING && config_data.accel_cal_minus != AltosLib.MISSING)
- link.printf("c a %d %d\n",
- config_data.accel_cal_plus, config_data.accel_cal_minus);
+ if (plus != AltosLib.MISSING && minus != AltosLib.MISSING)
+ link.printf("c a %d %d\n", plus, minus);
+ link.flush_output();
stop_link();
}
if (new_config != null) {
- System.out.printf("*** +1g %d -1g %d\n",
- new_config.accel_cal_plus,
- new_config.accel_cal_minus);
- listener.cal_done(this, new_config.accel_cal_plus, new_config.accel_cal_minus);
+ int plus = new_config.accel_cal_plus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP);
+ int minus = new_config.accel_cal_minus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP);
+ System.out.printf("*** +1g %d -1g %d\n", plus, minus);
+ listener.cal_done(this, plus, minus);
if (!wait_signal())
throw new InterruptedException("aborted");
} else
diff --git a/altoslib/AltosCalData.java b/altoslib/AltosCalData.java
index 03e2cbd7..5bc6c4fd 100644
--- a/altoslib/AltosCalData.java
+++ b/altoslib/AltosCalData.java
@@ -397,7 +397,7 @@ public class AltosCalData {
set_flight_params(config_data.apogee_delay / ticks_per_sec, config_data.apogee_lockout / ticks_per_sec);
set_pad_orientation(config_data.pad_orientation);
set_product(config_data.product);
- set_accel_plus_minus(config_data.accel_cal_plus, config_data.accel_cal_minus);
+ set_accel_plus_minus(config_data.accel_cal_plus(config_data.pad_orientation), config_data.accel_cal_minus(config_data.pad_orientation));
set_accel_zero(config_data.accel_zero_along, config_data.accel_zero_across, config_data.accel_zero_through);
set_ms5607(config_data.ms5607);
try {
diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java
index dc036867..8d0bb479 100644
--- a/altoslib/AltosConfigData.java
+++ b/altoslib/AltosConfigData.java
@@ -22,6 +22,7 @@ import java.util.*;
import java.text.*;
import java.util.concurrent.*;
+/* Don't change the field names in this structure; they're part of all .eeprom files */
public class AltosConfigData {
/* Version information */
@@ -53,6 +54,8 @@ public class AltosConfigData {
/* HAS_ACCEL */
public int accel_cal_plus, accel_cal_minus;
+ private int accel_cal_plus_cooked, accel_cal_minus_cooked;
+ private boolean accel_cal_adjusted;
public int pad_orientation;
/* HAS_LOG */
@@ -186,6 +189,23 @@ public class AltosConfigData {
}
}
+ public int invert_accel_value(int value) {
+ if (value == AltosLib.MISSING)
+ return AltosLib.MISSING;
+
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_FULL:
+ return 0x7fff - value;
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+ case AltosLib.AO_LOG_FORMAT_TELEMETRUM:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+ return 4095 - value;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
public boolean has_monitor_battery() {
if (product.startsWith("TeleBT"))
return true;
@@ -252,9 +272,12 @@ public class AltosConfigData {
radio_setting = AltosLib.MISSING;
telemetry_rate = AltosLib.MISSING;
+ accel_cal_plus_cooked = AltosLib.MISSING;
+ accel_cal_minus_cooked = AltosLib.MISSING;
accel_cal_plus = AltosLib.MISSING;
accel_cal_minus = AltosLib.MISSING;
pad_orientation = AltosLib.MISSING;
+ accel_cal_adjusted = false;
flight_log_max = AltosLib.MISSING;
log_fixed = AltosLib.MISSING;
@@ -285,6 +308,59 @@ public class AltosConfigData {
accel_zero_through = AltosLib.MISSING;
}
+ /* Return + accel calibration relative to a specific pad orientation */
+ public int accel_cal_plus(int pad_orientation) {
+ adjust_accel_cal();
+ switch (pad_orientation) {
+ case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
+ return accel_cal_plus_cooked;
+ case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
+ return invert_accel_value(accel_cal_minus_cooked);
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ /* Return - accel calibration relative to a specific pad orientation */
+ public int accel_cal_minus(int pad_orientation) {
+ adjust_accel_cal();
+ switch (pad_orientation) {
+ case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
+ return accel_cal_minus_cooked;
+ case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
+ return invert_accel_value(accel_cal_plus_cooked);
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ /* Once we have all of the values from the config data, compute the
+ * accel cal values relative to Antenna Up orientation.
+ */
+ private void adjust_accel_cal() {
+ if (!accel_cal_adjusted &&
+ pad_orientation != AltosLib.MISSING &&
+ accel_cal_plus != AltosLib.MISSING &&
+ accel_cal_minus != AltosLib.MISSING &&
+ log_format != AltosLib.AO_LOG_FORMAT_UNKNOWN)
+ {
+ switch (pad_orientation) {
+ case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
+ accel_cal_plus_cooked = accel_cal_plus;
+ accel_cal_minus_cooked = accel_cal_minus;
+ accel_cal_adjusted = true;
+ break;
+ case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
+ accel_cal_plus_cooked = invert_accel_value(accel_cal_minus);
+ accel_cal_minus_cooked = invert_accel_value(accel_cal_plus);
+ accel_cal_adjusted = true;
+ break;
+ default:
+ break;
+ }
+ }
+ }
+
public void parse_line(String line) {
/* Version replies */
@@ -351,6 +427,7 @@ public class AltosConfigData {
if (bits.length >= 6) {
accel_cal_plus = Integer.parseInt(bits[3]);
accel_cal_minus = Integer.parseInt(bits[5]);
+ accel_cal_adjusted = false;
}
}
} catch (Exception e) {}
@@ -414,6 +491,9 @@ public class AltosConfigData {
}
}
} catch (Exception e) {}
+
+ /* Fix accel cal as soon as all of the necessary values appear */
+ adjust_accel_cal();
}
public AltosConfigData() {
@@ -525,11 +605,11 @@ public class AltosConfigData {
if (pad_orientation != AltosLib.MISSING)
pad_orientation = source.pad_orientation();
- if (accel_cal_plus != AltosLib.MISSING)
- accel_cal_plus = source.accel_cal_plus();
+ if (accel_cal_plus_cooked != AltosLib.MISSING)
+ accel_cal_plus_cooked = source.accel_cal_plus();
- if (accel_cal_minus != AltosLib.MISSING)
- accel_cal_minus = source.accel_cal_minus();
+ if (accel_cal_minus_cooked != AltosLib.MISSING)
+ accel_cal_minus_cooked = source.accel_cal_minus();
/* HAS_LOG */
if (flight_log_max != AltosLib.MISSING)
@@ -598,7 +678,8 @@ public class AltosConfigData {
dest.set_flight_log_max(flight_log_max);
dest.set_ignite_mode(ignite_mode);
dest.set_pad_orientation(pad_orientation);
- dest.set_accel_cal(accel_cal_plus, accel_cal_minus);
+ dest.set_accel_cal(accel_cal_plus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP),
+ accel_cal_minus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP));
dest.set_callsign(callsign);
if (npyro != AltosLib.MISSING)
dest.set_pyros(pyros);
@@ -676,10 +757,13 @@ public class AltosConfigData {
link.printf("c e %d\n", radio_enable);
/* HAS_ACCEL */
+ /* set orientation first so that we know how to set the accel cal */
if (pad_orientation != AltosLib.MISSING)
link.printf("c o %d\n", pad_orientation);
- if (accel_cal_plus != AltosLib.MISSING && accel_cal_minus != AltosLib.MISSING)
- link.printf("c a %d %d\n", accel_cal_plus, accel_cal_minus);
+ int plus = accel_cal_plus(pad_orientation);
+ int minus = accel_cal_minus(pad_orientation);
+ if (plus != AltosLib.MISSING && minus != AltosLib.MISSING)
+ link.printf("c a %d %d\n", plus, minus);
/* HAS_LOG */
if (flight_log_max != 0)
diff --git a/altoslib/AltosDebug.java b/altoslib/AltosDebug.java
index 24a25933..a44eb12f 100644
--- a/altoslib/AltosDebug.java
+++ b/altoslib/AltosDebug.java
@@ -264,8 +264,8 @@ public class AltosDebug {
public AltosRomconfig romconfig() throws InterruptedException {
try {
- byte[] bytes = read_memory(0xa0, 10);
- AltosHexfile hexfile = new AltosHexfile (bytes, 0xa0);
+ byte[] bytes = read_memory(0x00, 0x200);
+ AltosHexfile hexfile = new AltosHexfile (bytes, 0x00);
return new AltosRomconfig(hexfile);
} catch (IOException ie) {
}
diff --git a/altoslib/AltosFlightSeries.java b/altoslib/AltosFlightSeries.java
index d130d3ad..182bdd19 100644
--- a/altoslib/AltosFlightSeries.java
+++ b/altoslib/AltosFlightSeries.java
@@ -257,6 +257,15 @@ public class AltosFlightSeries extends AltosDataListener {
public AltosTimeSeries height_series;
+ public double max_height = AltosLib.MISSING;
+
+ public void set_min_pressure(double pa) {
+ double ground_altitude = cal_data().ground_altitude;
+ if (ground_altitude != AltosLib.MISSING)
+ max_height = AltosConvert.pressure_to_altitude(pa) -
+ ground_altitude;
+ }
+
public static final String height_name = "Height";
public void set_pressure(double pa) {
diff --git a/altoslib/AltosFlightStats.java b/altoslib/AltosFlightStats.java
index 6bb83581..2760321d 100644
--- a/altoslib/AltosFlightStats.java
+++ b/altoslib/AltosFlightStats.java
@@ -266,8 +266,8 @@ public class AltosFlightStats {
}
}
- max_height = AltosLib.MISSING;
- if (series.height_series != null)
+ max_height = series.max_height;
+ if (max_height == AltosLib.MISSING && series.height_series != null)
max_height = series.height_series.max().value;
max_gps_height = AltosLib.MISSING;
if (series.gps_height != null) {
diff --git a/altoslib/AltosHexfile.java b/altoslib/AltosHexfile.java
index 6aa98383..f2ab4bea 100644
--- a/altoslib/AltosHexfile.java
+++ b/altoslib/AltosHexfile.java
@@ -294,15 +294,19 @@ public class AltosHexfile {
if (usb_descriptors == null)
return -1;
- /* Walk the descriptors looking for the device */
- a = usb_descriptors.address;
- while (get_u8(a+1) != AO_USB_DESC_DEVICE) {
- int delta = get_u8(a);
- a += delta;
- if (delta == 0 || a >= max_address)
- return -1;
+ try {
+ /* Walk the descriptors looking for the device */
+ a = usb_descriptors.address;
+ while (get_u8(a+1) != AO_USB_DESC_DEVICE) {
+ int delta = get_u8(a);
+ a += delta;
+ if (delta == 0 || a >= max_address)
+ return -1;
+ }
+ return a;
+ } catch (ArrayIndexOutOfBoundsException ae) {
+ return -1;
}
- return a;
}
public AltosUsbId find_usb_id() {
diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index ba6f1a82..df81c9dd 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -22,13 +22,17 @@ import java.util.concurrent.*;
import java.io.*;
public class AltosIMU implements Cloneable {
- public int accel_x;
- public int accel_y;
- public int accel_z;
+ public int accel_x = AltosLib.MISSING;
+ public int accel_y = AltosLib.MISSING;
+ public int accel_z = AltosLib.MISSING;
- public int gyro_x;
- public int gyro_y;
- public int gyro_z;
+ public int gyro_x = AltosLib.MISSING;
+ public int gyro_y = AltosLib.MISSING;
+ public int gyro_z = AltosLib.MISSING;
+
+ public int mag_x = AltosLib.MISSING;
+ public int mag_y = AltosLib.MISSING;
+ public int mag_z = AltosLib.MISSING;
public static final double counts_per_g = 2048.0;
@@ -58,6 +62,11 @@ public class AltosIMU implements Cloneable {
gyro_y = Integer.parseInt(items[6]);
gyro_z = Integer.parseInt(items[7]);
}
+ if (items.length >= 12) {
+ mag_x = Integer.parseInt(items[9]);
+ mag_y = Integer.parseInt(items[10]);
+ mag_z = Integer.parseInt(items[11]);
+ }
return true;
}
@@ -71,6 +80,11 @@ public class AltosIMU implements Cloneable {
n.gyro_x = gyro_x;
n.gyro_y = gyro_y;
n.gyro_z = gyro_z;
+
+ n.mag_x = mag_x;
+ n.mag_y = mag_y;
+ n.mag_z = mag_z;
+
return n;
}
@@ -86,6 +100,11 @@ public class AltosIMU implements Cloneable {
listener.set_accel_ground(imu.accel_y,
imu.accel_x,
imu.accel_z);
+ if (imu.mag_x != AltosLib.MISSING) {
+ listener.set_mag(cal_data.mag_along(imu.mag_y),
+ cal_data.mag_across(imu.mag_x),
+ cal_data.mag_through(imu.mag_z));
+ }
}
} catch (TimeoutException te) {
}
@@ -99,6 +118,10 @@ public class AltosIMU implements Cloneable {
gyro_x = AltosLib.MISSING;
gyro_y = AltosLib.MISSING;
gyro_z = AltosLib.MISSING;
+
+ mag_x = AltosLib.MISSING;
+ mag_y = AltosLib.MISSING;
+ mag_z = AltosLib.MISSING;
}
public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
diff --git a/altoslib/AltosIdleFetch.java b/altoslib/AltosIdleFetch.java
index 058df0a1..88a5dab4 100644
--- a/altoslib/AltosIdleFetch.java
+++ b/altoslib/AltosIdleFetch.java
@@ -133,12 +133,30 @@ public class AltosIdleFetch implements AltosDataProvider {
AltosIdler.idle_ms5607,
AltosIdler.idle_sensor_metrum),
- new AltosIdler("TeleMega",
+ new AltosIdler("TeleMega-v0",
AltosIdler.idle_gps,
AltosIdler.idle_mma655x,
AltosIdler.idle_ms5607,
AltosIdler.idle_imu, AltosIdler.idle_mag,
AltosIdler.idle_sensor_mega),
+ new AltosIdler("TeleMega-v1",
+ AltosIdler.idle_gps,
+ AltosIdler.idle_mma655x,
+ AltosIdler.idle_ms5607,
+ AltosIdler.idle_imu, AltosIdler.idle_mag,
+ AltosIdler.idle_sensor_mega),
+ new AltosIdler("TeleMega-v2",
+ AltosIdler.idle_gps,
+ AltosIdler.idle_mma655x,
+ AltosIdler.idle_ms5607,
+ AltosIdler.idle_imu, AltosIdler.idle_mag,
+ AltosIdler.idle_sensor_mega),
+ new AltosIdler("TeleMega-v3",
+ AltosIdler.idle_gps,
+ AltosIdler.idle_mma655x,
+ AltosIdler.idle_ms5607,
+ AltosIdler.idle_imu,
+ AltosIdler.idle_sensor_mega),
new AltosIdler("EasyMega",
AltosIdler.idle_mma655x,
AltosIdler.idle_ms5607,
diff --git a/altoslib/AltosLib.java b/altoslib/AltosLib.java
index c25a6273..7d2b68e0 100644
--- a/altoslib/AltosLib.java
+++ b/altoslib/AltosLib.java
@@ -348,6 +348,9 @@ public class AltosLib {
public static final int AO_GPS_NUM_SAT_SHIFT = 0;
public static final int AO_GPS_NUM_SAT_MASK = 0xf;
+ public static final int AO_PAD_ORIENTATION_ANTENNA_UP = 0;
+ public static final int AO_PAD_ORIENTATION_ANTENNA_DOWN = 1;
+
public static final int AO_LOG_FORMAT_UNKNOWN = 0;
public static final int AO_LOG_FORMAT_FULL = 1;
public static final int AO_LOG_FORMAT_TINY = 2;
diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java
index 829a1a63..3ad34891 100644
--- a/altoslib/AltosLink.java
+++ b/altoslib/AltosLink.java
@@ -339,9 +339,22 @@ public abstract class AltosLink implements Runnable {
public void flush_input() throws InterruptedException {
- if (remote)
- flush_input(500);
- else
+ if (remote) {
+ int timeout = 500;
+ switch (telemetry_rate) {
+ case AltosLib.ao_telemetry_rate_38400:
+ default:
+ timeout = 500;
+ break;
+ case AltosLib.ao_telemetry_rate_9600:
+ timeout = 1000;
+ break;
+ case AltosLib.ao_telemetry_rate_2400:
+ timeout = 2000;
+ break;
+ }
+ flush_input(timeout);
+ } else
flush_input(100);
}
diff --git a/altoslib/AltosPyro.java b/altoslib/AltosPyro.java
index 0ea3bfc1..fea4fd59 100644
--- a/altoslib/AltosPyro.java
+++ b/altoslib/AltosPyro.java
@@ -29,24 +29,24 @@ public class AltosPyro {
public static final int pyro_accel_greater = 0x00000002;
public static final String pyro_accel_less_string = "a<";
public static final String pyro_accel_greater_string = "a>";
- public static final String pyro_accel_less_name = "Acceleration less than";
- public static final String pyro_accel_greater_name = "Acceleration greater than";
+ public static final String pyro_accel_less_name = "Vertical acceleration less than";
+ public static final String pyro_accel_greater_name = "Vertical acceleration greater than";
public static final double pyro_accel_scale = 16.0;
public static final int pyro_speed_less = 0x00000004;
public static final int pyro_speed_greater = 0x00000008;
public static final String pyro_speed_less_string = "s<";
public static final String pyro_speed_greater_string = "s>";
- public static final String pyro_speed_less_name = "Speed less than";
- public static final String pyro_speed_greater_name = "Speed greater than";
+ public static final String pyro_speed_less_name = "Ascent rate less than";
+ public static final String pyro_speed_greater_name = "Ascent rate greater than";
public static final double pyro_speed_scale = 16.0;
public static final int pyro_height_less = 0x00000010;
public static final int pyro_height_greater = 0x00000020;
public static final String pyro_height_less_string = "h<";
public static final String pyro_height_greater_string = "h>";
- public static final String pyro_height_less_name = "Height less than";
- public static final String pyro_height_greater_name = "Height greater than";
+ public static final String pyro_height_less_name = "Height above pad less than";
+ public static final String pyro_height_greater_name = "Height above pad greater than";
public static final double pyro_height_scale = 1.0;
public static final int pyro_orient_less = 0x00000040;
@@ -61,8 +61,8 @@ public class AltosPyro {
public static final int pyro_time_greater = 0x00000200;
public static final String pyro_time_less_string = "t<";
public static final String pyro_time_greater_string = "t>";
- public static final String pyro_time_less_name = "Time since boost less than (s)";
- public static final String pyro_time_greater_name = "Time since boost greater than (s)";
+ public static final String pyro_time_less_name = "Time since launch less than (s)";
+ public static final String pyro_time_greater_name = "Time since launch greater than (s)";
public static final double pyro_time_scale = 100.0;
public static final int pyro_ascending = 0x00000400;
@@ -90,7 +90,10 @@ public class AltosPyro {
public static final String pyro_state_greater_or_equal_name = "Flight state after";
public static final double pyro_state_scale = 1.0;
+ public static final int pyro_deprecate = pyro_ascending | pyro_descending;
+
public static final int pyro_all = 0x0000ffff;
+ public static final int pyro_all_useful = pyro_all ^ pyro_deprecate;
public static final int pyro_no_value = (pyro_ascending |
pyro_descending);
diff --git a/altoslib/AltosRomconfig.java b/altoslib/AltosRomconfig.java
index 1fbb4115..44a3fa60 100644
--- a/altoslib/AltosRomconfig.java
+++ b/altoslib/AltosRomconfig.java
@@ -35,12 +35,12 @@ public class AltosRomconfig {
System.out.printf("no symbol %s\n", name);
throw new AltosNoSymbol(name);
}
- if (hexfile.address <= symbol.address && symbol.address + len < hexfile.max_address) {
+ if (hexfile.address <= symbol.address && symbol.address + len <= hexfile.max_address) {
System.out.printf("%s: %x\n", name, symbol.address);
return symbol.address;
}
- System.out.printf("invalid symbol addr %x range is %x - %x\n",
- symbol.address, hexfile.address, hexfile.max_address);
+ System.out.printf("invalid symbol addr %x len %d range is %x - %x\n",
+ symbol.address, len, hexfile.address, hexfile.max_address);
throw new AltosNoSymbol(name);
}
generated by cgit v1.2.3 (git 2.39.1) at 2025-11-04 09:08:33 +0000