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-rw-r--r--altoslib/AltosEeprom.java7
-rw-r--r--altoslib/AltosEepromGPS.java6
-rw-r--r--altoslib/AltosEepromMega.java6
-rw-r--r--altoslib/AltosEepromMetrum2.java11
-rw-r--r--altoslib/AltosEepromMini.java2
-rw-r--r--altoslib/AltosEepromTM.java12
-rw-r--r--altoslib/AltosState.java675
-rw-r--r--altoslib/AltosTelemetry.java2
-rw-r--r--altoslib/AltosTelemetryFile.java5
-rw-r--r--altoslib/AltosTelemetryLocation.java2
-rw-r--r--altoslib/AltosTelemetrySatellite.java2
11 files changed, 464 insertions, 266 deletions
diff --git a/altoslib/AltosEeprom.java b/altoslib/AltosEeprom.java
index 081b3be1..3a996ae0 100644
--- a/altoslib/AltosEeprom.java
+++ b/altoslib/AltosEeprom.java
@@ -47,7 +47,12 @@ public abstract class AltosEeprom implements AltosStateUpdate {
public abstract int record_length();
- public abstract void update_state(AltosState state);
+ public void update_state(AltosState state) {
+ if (cmd == AltosLib.AO_LOG_FLIGHT)
+ state.set_boost_tick(tick);
+ else
+ state.set_tick(tick);
+ }
public void write(PrintStream out) {
out.printf("%c %04x", cmd, tick);
diff --git a/altoslib/AltosEepromGPS.java b/altoslib/AltosEepromGPS.java
index d8e47a6e..f97fbbf9 100644
--- a/altoslib/AltosEepromGPS.java
+++ b/altoslib/AltosEepromGPS.java
@@ -71,6 +71,8 @@ public class AltosEepromGPS extends AltosEeprom {
}
public void update_state(AltosState state) {
+ super.update_state(state);
+
AltosGPS gps;
/* Flush any pending GPS changes */
@@ -89,11 +91,8 @@ public class AltosEepromGPS extends AltosEeprom {
}
}
- if (cmd != AltosLib.AO_LOG_FLIGHT)
- state.set_tick(tick);
switch (cmd) {
case AltosLib.AO_LOG_FLIGHT:
- state.set_boost_tick(tick);
state.set_flight(flight());
state.set_ground_accel(ground_accel());
state.set_ground_pressure(ground_pres());
@@ -139,7 +138,6 @@ public class AltosEepromGPS extends AltosEeprom {
gps.day = day();
break;
case AltosLib.AO_LOG_GPS_SAT:
- state.set_tick(tick);
gps = state.make_temp_gps();
int n = nsat();
diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java
index e8f9b1fc..bccfc621 100644
--- a/altoslib/AltosEepromMega.java
+++ b/altoslib/AltosEepromMega.java
@@ -79,6 +79,8 @@ public class AltosEepromMega extends AltosEeprom {
}
public void update_state(AltosState state) {
+ super.update_state(state);
+
AltosGPS gps;
/* Flush any pending GPS changes */
@@ -149,7 +151,7 @@ public class AltosEepromMega extends AltosEeprom {
break;
case AltosLib.AO_LOG_GPS_TIME:
state.set_tick(tick);
- gps = state.make_temp_gps();
+ gps = state.make_temp_gps(false);
gps.lat = latitude() / 1e7;
gps.lon = longitude() / 1e7;
gps.alt = altitude();
@@ -171,7 +173,7 @@ public class AltosEepromMega extends AltosEeprom {
break;
case AltosLib.AO_LOG_GPS_SAT:
state.set_tick(tick);
- gps = state.make_temp_gps();
+ gps = state.make_temp_gps(true);
int n = nsat();
for (int i = 0; i < n; i++)
diff --git a/altoslib/AltosEepromMetrum2.java b/altoslib/AltosEepromMetrum2.java
index 5a616e6c..3b494839 100644
--- a/altoslib/AltosEepromMetrum2.java
+++ b/altoslib/AltosEepromMetrum2.java
@@ -71,6 +71,8 @@ public class AltosEepromMetrum2 extends AltosEeprom {
}
public void update_state(AltosState state) {
+ super.update_state(state);
+
AltosGPS gps;
/* Flush any pending GPS changes */
@@ -89,11 +91,8 @@ public class AltosEepromMetrum2 extends AltosEeprom {
}
}
- if (cmd != AltosLib.AO_LOG_FLIGHT)
- state.set_tick(tick);
switch (cmd) {
case AltosLib.AO_LOG_FLIGHT:
- state.set_boost_tick(tick);
state.set_flight(flight());
state.set_ground_accel(ground_accel());
state.set_ground_pressure(ground_pres());
@@ -115,13 +114,13 @@ public class AltosEepromMetrum2 extends AltosEeprom {
break;
case AltosLib.AO_LOG_GPS_POS:
- gps = state.make_temp_gps();
+ gps = state.make_temp_gps(false);
gps.lat = latitude() / 1e7;
gps.lon = longitude() / 1e7;
gps.alt = altitude();
break;
case AltosLib.AO_LOG_GPS_TIME:
- gps = state.make_temp_gps();
+ gps = state.make_temp_gps(false);
gps.hour = hour();
gps.minute = minute();
@@ -140,7 +139,7 @@ public class AltosEepromMetrum2 extends AltosEeprom {
break;
case AltosLib.AO_LOG_GPS_SAT:
state.set_tick(tick);
- gps = state.make_temp_gps();
+ gps = state.make_temp_gps(true);
int n = nsat();
for (int i = 0; i < n; i++)
diff --git a/altoslib/AltosEepromMini.java b/altoslib/AltosEepromMini.java
index 15ec1929..e0eedb73 100644
--- a/altoslib/AltosEepromMini.java
+++ b/altoslib/AltosEepromMini.java
@@ -52,6 +52,8 @@ public class AltosEepromMini extends AltosEeprom {
}
public void update_state(AltosState state) {
+ super.update_state(state);
+
switch (cmd) {
case AltosLib.AO_LOG_FLIGHT:
state.set_flight(flight());
diff --git a/altoslib/AltosEepromTM.java b/altoslib/AltosEepromTM.java
index 461a7a9c..08f9af5a 100644
--- a/altoslib/AltosEepromTM.java
+++ b/altoslib/AltosEepromTM.java
@@ -90,7 +90,7 @@ public class AltosEepromTM extends AltosEeprom {
state.set_state(a);
break;
case AltosLib.AO_LOG_GPS_TIME:
- gps = state.make_temp_gps();
+ gps = state.make_temp_gps(false);
gps.hour = (a & 0xff);
gps.minute = (a >> 8);
@@ -104,29 +104,29 @@ public class AltosEepromTM extends AltosEeprom {
AltosLib.AO_GPS_NUM_SAT_SHIFT;
break;
case AltosLib.AO_LOG_GPS_LAT:
- gps = state.make_temp_gps();
+ gps = state.make_temp_gps(false);
int lat32 = a | (b << 16);
gps.lat = (double) lat32 / 1e7;
break;
case AltosLib.AO_LOG_GPS_LON:
- gps = state.make_temp_gps();
+ gps = state.make_temp_gps(false);
int lon32 = a | (b << 16);
gps.lon = (double) lon32 / 1e7;
break;
case AltosLib.AO_LOG_GPS_ALT:
- gps = state.make_temp_gps();
+ gps = state.make_temp_gps(false);
gps.alt = a;
break;
case AltosLib.AO_LOG_GPS_SAT:
- gps = state.make_temp_gps();
+ gps = state.make_temp_gps(true);
int svid = a;
int c_n0 = b >> 8;
gps.add_sat(svid, c_n0);
break;
case AltosLib.AO_LOG_GPS_DATE:
- gps = state.make_temp_gps();
+ gps = state.make_temp_gps(false);
gps.year = (a & 0xff) + 2000;
gps.month = a >> 8;
gps.day = b & 0xff;
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index b80d7b2e..7817c76a 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -30,6 +30,8 @@ public class AltosState implements Cloneable {
public int set;
+ static final double filter_len = 0.5;
+
/* derived data */
public long received_time;
@@ -38,8 +40,199 @@ public class AltosState implements Cloneable {
public double prev_time;
public double time_change;
public int tick;
+ private int prev_tick;
public int boost_tick;
+ class AltosValue {
+ private double value;
+ private double prev_value;
+ private double max_value;
+ private double set_time;
+ private double prev_set_time;
+ private double max_rate = 1000.0;
+
+ void set(double new_value, double time) {
+ if (new_value != AltosRecord.MISSING) {
+ value = new_value;
+ if (max_value == AltosRecord.MISSING || value > max_value) {
+ max_value = value;
+ }
+ set_time = time;
+ }
+ }
+
+ double value() {
+ return value;
+ }
+
+ double max() {
+ return max_value;
+ }
+
+ double prev() {
+ return prev_value;
+ }
+
+ double change() {
+ if (value != AltosRecord.MISSING && prev_value != AltosRecord.MISSING)
+ return value - prev_value;
+ return AltosRecord.MISSING;
+ }
+
+ double rate() {
+ double c = change();
+ double t = set_time - prev_set_time;
+
+ if (c != AltosRecord.MISSING && t != 0)
+ return c / t;
+ return AltosRecord.MISSING;
+ }
+
+ double integrate() {
+ if (value == AltosRecord.MISSING)
+ return AltosRecord.MISSING;
+ if (prev_value == AltosRecord.MISSING)
+ return AltosRecord.MISSING;
+
+ return (value + prev_value) / 2 * (set_time - prev_set_time);
+ }
+
+ double time() {
+ return set_time;
+ }
+
+ void set_derivative(AltosValue in) {
+ double new_value = in.rate();
+
+ if (new_value == AltosRecord.MISSING)
+ return;
+
+ /* Clip changes to reduce noise */
+ if (prev_value != AltosRecord.MISSING) {
+ double ddt = in.time() - prev_set_time;
+ double ddv = (new_value - prev_value) / ddt;
+
+ /* 100gs */
+ if (Math.abs(ddv) > 1000) {
+ if (new_value > prev_value)
+ new_value = prev_value + ddt * 1000;
+ else
+ new_value = prev_value - ddt * 1000;
+ }
+
+ double f = 1/Math.exp(ddt/ filter_len);
+ new_value = prev_value * f + new_value * (1-f);
+ }
+
+ set(new_value, in.time());
+ }
+
+ void set_integral(AltosValue in) {
+ double change = in.integrate();
+
+ if (change != AltosRecord.MISSING)
+ set(prev_value + change, in.time());
+ }
+
+ void copy(AltosValue old) {
+ value = old.value;
+ set_time = old.set_time;
+ prev_value = old.value;
+ prev_set_time = old.set_time;
+ max_value = old.max_value;
+ }
+
+ AltosValue() {
+ value = AltosRecord.MISSING;
+ prev_value = AltosRecord.MISSING;
+ max_value = AltosRecord.MISSING;
+ }
+ }
+
+ class AltosCValue {
+ AltosValue measured;
+ AltosValue computed;
+
+ double value() {
+ double v = measured.value();
+ if (v != AltosRecord.MISSING)
+ return v;
+ return computed.value();
+ }
+
+ boolean is_measured() {
+ return measured.value() != AltosRecord.MISSING;
+ }
+
+ double max() {
+ double m = measured.max();
+
+ if (m != AltosRecord.MISSING)
+ return m;
+ return computed.max();
+ }
+
+ double prev_value() {
+ if (measured.value != AltosRecord.MISSING && measured.prev_value != AltosRecord.MISSING)
+ return measured.prev_value;
+ return computed.prev_value;
+ }
+
+ AltosValue altos_value() {
+ if (measured.value() != AltosRecord.MISSING)
+ return measured;
+ return computed;
+ }
+
+ double change() {
+ double c = measured.change();
+ if (c == AltosRecord.MISSING)
+ c = computed.change();
+ return c;
+ }
+
+ double rate() {
+ double r = measured.rate();
+ if (r == AltosRecord.MISSING)
+ r = computed.rate();
+ return r;
+ }
+
+ void set_measured(double new_value, double time) {
+ measured.set(new_value, time);
+ }
+
+ void set_computed(double new_value, double time) {
+ computed.set(new_value, time);
+ }
+
+ void set_derivative(AltosValue in) {
+ computed.set_derivative(in);
+ }
+
+ void set_derivative(AltosCValue in) {
+ set_derivative(in.altos_value());
+ }
+
+ void set_integral(AltosValue in) {
+ computed.set_integral(in);
+ }
+
+ void set_integral(AltosCValue in) {
+ set_integral(in.altos_value());
+ }
+
+ void copy(AltosCValue old) {
+ measured.copy(old.measured);
+ computed.copy(old.computed);
+ }
+
+ AltosCValue() {
+ measured = new AltosValue();
+ computed = new AltosValue();
+ }
+ }
+
public int state;
public int flight;
public int serial;
@@ -55,36 +248,191 @@ public class AltosState implements Cloneable {
public int main_deploy;
public int flight_log_max;
- public double ground_altitude;
- public double ground_pressure;
- public double altitude;
- public double height;
- public double pressure;
- public double acceleration;
+ private double pressure_to_altitude(double p) {
+ if (p == AltosRecord.MISSING)
+ return AltosRecord.MISSING;
+ return AltosConvert.pressure_to_altitude(p);
+ }
+
+ private AltosCValue ground_altitude;
+
+ public double ground_altitude() {
+ return ground_altitude.value();
+ }
+
+ public void set_ground_altitude(double a) {
+ ground_altitude.set_measured(a, time);
+ }
+
+ class AltosGroundPressure extends AltosValue {
+ void set(double p, double time) {
+ super.set(p, time);
+ ground_altitude.set_computed(pressure_to_altitude(p), time);
+ }
+ }
+
+ private AltosGroundPressure ground_pressure;
+
+ public double ground_pressure() {
+ return ground_pressure.value();
+ }
+
+ public void set_ground_pressure (double pressure) {
+ ground_pressure.set(pressure, time);
+ }
+
+ class AltosAltitude extends AltosCValue {
+
+ private void set_speed(AltosValue v) {
+ if (!acceleration.is_measured() || !ascent)
+ speed.set_derivative(this);
+ }
+
+ void set_computed(double a, double time) {
+ super.set_computed(a,time);
+ set_speed(computed);
+ set |= set_position;
+ }
+
+ void set_measured(double a, double time) {
+ super.set_measured(a,time);
+ set_speed(measured);
+ set |= set_position;
+ }
+ }
+
+ private AltosAltitude altitude;
+
+ public double altitude() {
+ double a = altitude.value();
+ if (a != AltosRecord.MISSING)
+ return a;
+ if (gps != null)
+ return gps.alt;
+ return AltosRecord.MISSING;
+ }
+
+ public double max_altitude() {
+ double a = altitude.max();
+ if (a != AltosRecord.MISSING)
+ return a;
+ return AltosRecord.MISSING;
+ }
+
+ public void set_altitude(double new_altitude) {
+ altitude.set_measured(new_altitude, time);
+ }
+
+ class AltosPressure extends AltosValue {
+ void set(double p, double time) {
+ super.set(p, time);
+ altitude.set_computed(pressure_to_altitude(p), time);
+ }
+ }
+
+ private AltosPressure pressure;
+
+ public double pressure() {
+ return pressure.value();
+ }
+
+ public void set_pressure(double p) {
+ pressure.set(p, time);
+ }
+
+ public double height() {
+ double k = kalman_height.value();
+ if (k != AltosRecord.MISSING)
+ return k;
+
+ double a = altitude();
+ double g = ground_altitude();
+ if (a != AltosRecord.MISSING && g != AltosRecord.MISSING)
+ return a - g;
+ return AltosRecord.MISSING;
+ }
+
+ public double max_height() {
+ double k = kalman_height.max();
+ if (k != AltosRecord.MISSING)
+ return k;
+
+ double a = altitude.max();
+ double g = ground_altitude();
+ if (a != AltosRecord.MISSING && g != AltosRecord.MISSING)
+ return a - g;
+ return AltosRecord.MISSING;
+ }
+
+ class AltosSpeed extends AltosCValue {
+
+ void set_accel() {
+ acceleration.set_derivative(this);
+ }
+
+ void set_derivative(AltosCValue in) {
+ super.set_derivative(in);
+ set_accel();
+ }
+
+ void set_computed(double new_value, double time) {
+ super.set_computed(new_value, time);
+ set_accel();
+ }
+
+ void set_measured(double new_value, double time) {
+ super.set_measured(new_value, time);
+ set_accel();
+ }
+ }
+
+ private AltosSpeed speed;
+
+ public double speed() {
+ return speed.value();
+ }
+
+ public double max_speed() {
+ return speed.max();
+ }
+
+ class AltosAccel extends AltosCValue {
+ void set_measured(double a, double time) {
+ super.set_measured(a, time);
+ if (ascent)
+ speed.set_integral(this.measured);
+ }
+ }
+
+ AltosAccel acceleration;
+
+ public double acceleration() {
+ return acceleration.value();
+ }
+
+ public double max_acceleration() {
+ return acceleration.max();
+ }
+
+ public AltosValue kalman_height, kalman_speed, kalman_acceleration;
+
+ public void set_kalman(double height, double speed, double acceleration) {
+ kalman_height.set(height, time);
+ kalman_speed.set(speed, time);
+ kalman_acceleration.set(acceleration, time);
+ }
+
public double battery_voltage;
public double pyro_voltage;
public double temperature;
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;
-
- public double kalman_height, kalman_speed, kalman_acceleration;
+ public double ignitor_voltage[];
public AltosGPS gps;
public AltosGPS temp_gps;
+ public boolean temp_gps_clear_sats_pending;
public boolean gps_pending;
public int gps_sequence;
@@ -125,14 +473,6 @@ public class AltosState implements Cloneable {
public AltosRecordCompanion companion;
- public double speed() {
- return speed;
- }
-
- public double max_speed() {
- return max_speed;
- }
-
public void set_npad(int npad) {
this.npad = npad;
gps_waiting = MIN_PAD_SAMPLES - npad;
@@ -151,6 +491,7 @@ public class AltosState implements Cloneable {
time_change = AltosRecord.MISSING;
prev_time = AltosRecord.MISSING;
tick = AltosRecord.MISSING;
+ prev_tick = AltosRecord.MISSING;
boost_tick = AltosRecord.MISSING;
state = AltosLib.ao_flight_invalid;
flight = AltosRecord.MISSING;
@@ -165,40 +506,27 @@ public class AltosState implements Cloneable {
main_deploy = AltosRecord.MISSING;
flight_log_max = AltosRecord.MISSING;
- ground_altitude = AltosRecord.MISSING;
- ground_pressure = AltosRecord.MISSING;
- altitude = AltosRecord.MISSING;
- height = AltosRecord.MISSING;
- pressure = AltosRecord.MISSING;
- acceleration = AltosRecord.MISSING;
- temperature = AltosRecord.MISSING;
-
- prev_height = AltosRecord.MISSING;
- prev_speed = AltosRecord.MISSING;
- prev_acceleration = AltosRecord.MISSING;
-
- prev_max_height = 0;
- prev_max_speed = 0;
- prev_max_acceleration = 0;
+ ground_altitude = new AltosCValue();
+ ground_pressure = new AltosGroundPressure();
+ altitude = new AltosAltitude();
+ pressure = new AltosPressure();
+ speed = new AltosSpeed();
+ acceleration = new AltosAccel();
+ temperature = AltosRecord.MISSING;
battery_voltage = AltosRecord.MISSING;
pyro_voltage = AltosRecord.MISSING;
apogee_voltage = AltosRecord.MISSING;
main_voltage = AltosRecord.MISSING;
ignitor_voltage = null;
- speed = AltosRecord.MISSING;
-
- kalman_height = AltosRecord.MISSING;
- kalman_speed = AltosRecord.MISSING;
- kalman_acceleration = AltosRecord.MISSING;
-
- max_speed = 0;
- max_height = 0;
- max_acceleration = 0;
+ kalman_height = new AltosValue();
+ kalman_speed = new AltosValue();
+ kalman_acceleration = new AltosValue();
gps = null;
temp_gps = null;
+ temp_gps_clear_sats_pending = false;
gps_sequence = 0;
gps_pending = false;
@@ -225,8 +553,10 @@ public class AltosState implements Cloneable {
accel_plus_g = AltosRecord.MISSING;
accel_minus_g = AltosRecord.MISSING;
accel = AltosRecord.MISSING;
+
ground_accel = AltosRecord.MISSING;
ground_accel_avg = AltosRecord.MISSING;
+
log_format = AltosRecord.MISSING;
serial = AltosRecord.MISSING;
@@ -247,6 +577,7 @@ public class AltosState implements Cloneable {
time = old.time;
time_change = 0;
tick = old.tick;
+ prev_tick = old.tick;
boost_tick = old.boost_tick;
state = old.state;
@@ -265,35 +596,22 @@ public class AltosState implements Cloneable {
set = 0;
- ground_altitude = old.ground_altitude;
- altitude = old.altitude;
- height = old.height;
- pressure = old.pressure;
- acceleration = old.acceleration;
+ ground_altitude.copy(old.ground_altitude);
+ altitude.copy(old.altitude);
+ pressure.copy(old.pressure);
+ speed.copy(old.speed);
+ acceleration.copy(old.acceleration);
+
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;
- 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;
- max_acceleration = old.max_acceleration;
- max_speed = old.max_speed;
-
- kalman_height = old.kalman_height;
- kalman_speed = old.kalman_speed;
- kalman_acceleration = old.kalman_acceleration;
+ 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();
@@ -303,6 +621,7 @@ public class AltosState implements Cloneable {
temp_gps = old.temp_gps.clone();
else
temp_gps = null;
+ temp_gps_clear_sats_pending = old.temp_gps_clear_sats_pending;
gps_sequence = old.gps_sequence;
gps_pending = old.gps_pending;
@@ -351,122 +670,8 @@ public class AltosState implements Cloneable {
baro = old.baro;
companion = old.companion;
}
-
- double altitude() {
- if (altitude != AltosRecord.MISSING)
- return altitude;
- if (gps != null)
- return gps.alt;
- return AltosRecord.MISSING;
- }
-
- void update_vertical_pos() {
-
- double alt = altitude();
-
- if (state == AltosLib.ao_flight_pad && alt != AltosRecord.MISSING && ground_pressure == AltosRecord.MISSING) {
- if (ground_altitude == AltosRecord.MISSING)
- ground_altitude = alt;
- else
- ground_altitude = (ground_altitude * 7 + alt) / 8;
- }
-
- if (kalman_height != AltosRecord.MISSING)
- height = kalman_height;
- else if (altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING)
- height = altitude - ground_altitude;
- else
- height = AltosRecord.MISSING;
-
- if (height != AltosRecord.MISSING && height > prev_max_height)
- max_height = height;
-
- update_speed();
- }
-
- double motion_filter_value() {
- return 1/ Math.exp(time_change/2.0);
- }
-
- void update_speed() {
- if (kalman_speed != AltosRecord.MISSING)
- speed = kalman_speed;
- else if (state != AltosLib.ao_flight_invalid &&
- time_change != AltosRecord.MISSING)
- {
- if (ascent && acceleration != AltosRecord.MISSING)
- {
- if (prev_speed == AltosRecord.MISSING)
- speed = acceleration * time_change;
- else
- speed = prev_speed + acceleration * time_change;
- }
- else if (height != AltosRecord.MISSING &&
- prev_height != AltosRecord.MISSING &&
- time_change != 0)
- {
- double new_speed = (height - prev_height) / time_change;
-
- if (prev_speed == AltosRecord.MISSING)
- speed = new_speed;
- else {
- double filter = motion_filter_value();
-
- speed = prev_speed * filter + new_speed * (1-filter);
- }
- }
- }
- if (acceleration == AltosRecord.MISSING) {
- if (prev_speed != AltosRecord.MISSING && time_change != 0) {
- double new_acceleration = (speed - prev_speed) / time_change;
-
- if (prev_acceleration == AltosRecord.MISSING)
- acceleration = new_acceleration;
- else {
- double filter = motion_filter_value();
-
- acceleration = prev_acceleration * filter + new_acceleration * (1-filter);
- }
- }
- }
- if (boost && speed != AltosRecord.MISSING && speed > prev_max_speed)
- max_speed = speed;
- }
- void update_accel() {
- 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 && acceleration > prev_max_acceleration)
- max_acceleration = acceleration;
- update_speed();
- }
-
void update_time() {
- if (tick != AltosRecord.MISSING) {
- time = tick / 100.0;
- if (prev_time != AltosRecord.MISSING)
- time_change = time - prev_time;
- }
}
void update_gps() {
@@ -497,7 +702,7 @@ public class AltosState implements Cloneable {
pad_lat != AltosRecord.MISSING &&
pad_lon != AltosRecord.MISSING)
{
- double h = height;
+ double h = height();
if (h == AltosRecord.MISSING)
h = 0;
@@ -508,16 +713,15 @@ public class AltosState implements Cloneable {
}
}
- public void set_tick(int tick) {
- if (tick != AltosRecord.MISSING) {
- if (this.tick != AltosRecord.MISSING) {
- while (tick < this.tick)
- tick += 65536;
- time_change = (tick - this.tick) / 100.0;
- } else
- time_change = 0;
- this.tick = tick;
- update_time();
+ public void set_tick(int new_tick) {
+ if (new_tick != AltosRecord.MISSING) {
+ if (prev_tick != AltosRecord.MISSING) {
+ while (new_tick < prev_tick - 32767) {
+ new_tick += 65536;
+ }
+ }
+ tick = new_tick;
+ time = tick / 100.0;
}
}
@@ -600,57 +804,15 @@ public class AltosState implements Cloneable {
received_time = ms;
}
- public void set_altitude(double altitude) {
- if (altitude != AltosRecord.MISSING) {
- this.altitude = altitude;
- update_vertical_pos();
- set |= set_position;
- }
- }
-
- public void set_ground_altitude(double ground_altitude) {
- if (ground_altitude != AltosRecord.MISSING) {
- this.ground_altitude = ground_altitude;
- update_vertical_pos();
- }
- }
-
- public void set_ground_pressure (double pressure) {
- if (pressure != AltosRecord.MISSING) {
- this.ground_pressure = pressure;
- set_ground_altitude(AltosConvert.pressure_to_altitude(pressure));
- update_vertical_pos();
- }
- }
-
public void set_gps(AltosGPS gps, int sequence) {
if (gps != null) {
this.gps = gps.clone();
gps_sequence = sequence;
update_gps();
- update_vertical_pos();
set |= set_gps;
}
}
- public void set_kalman(double height, double speed, double acceleration) {
- if (height != AltosRecord.MISSING) {
- kalman_height = height;
- kalman_speed = speed;
- kalman_acceleration = acceleration;
- update_vertical_pos();
- update_speed();
- update_accel();
- }
- }
-
- public void set_pressure(double pressure) {
- if (pressure != AltosRecord.MISSING) {
- this.pressure = pressure;
- set_altitude(AltosConvert.pressure_to_altitude(pressure));
- }
- }
-
public void make_baro() {
if (baro == null)
baro = new AltosMs5607();
@@ -674,6 +836,25 @@ public class AltosState implements Cloneable {
this.companion = companion;
}
+ 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.set_computed((ground - accel) / counts_per_mss, time);
+ }
+
public void set_accel_g(double accel_plus_g, double accel_minus_g) {
if (accel_plus_g != AltosRecord.MISSING) {
this.accel_plus_g = accel_plus_g;
@@ -681,6 +862,7 @@ public class AltosState implements Cloneable {
update_accel();
}
}
+
public void set_ground_accel(double ground_accel) {
if (ground_accel != AltosRecord.MISSING) {
this.ground_accel = ground_accel;
@@ -754,12 +936,17 @@ public class AltosState implements Cloneable {
return tick != AltosRecord.MISSING && serial != AltosRecord.MISSING;
}
- public AltosGPS make_temp_gps() {
+ public AltosGPS make_temp_gps(boolean sats) {
if (temp_gps == null) {
temp_gps = new AltosGPS(gps);
- temp_gps.cc_gps_sat = null;
}
gps_pending = true;
+ if (!sats)
+ temp_gps_clear_sats_pending = true;
+ else if (temp_gps_clear_sats_pending) {
+ temp_gps.cc_gps_sat = null;
+ temp_gps_clear_sats_pending = false;
+ }
return temp_gps;
}
diff --git a/altoslib/AltosTelemetry.java b/altoslib/AltosTelemetry.java
index 82e5400e..642e7421 100644
--- a/altoslib/AltosTelemetry.java
+++ b/altoslib/AltosTelemetry.java
@@ -43,6 +43,8 @@ public abstract class AltosTelemetry implements AltosStateUpdate {
}
public void update_state(AltosState state) {
+ if (state.state == AltosLib.ao_flight_invalid)
+ state.set_state(AltosLib.ao_flight_startup);
state.set_serial(serial);
state.set_tick(tick);
state.set_rssi(rssi, status);
diff --git a/altoslib/AltosTelemetryFile.java b/altoslib/AltosTelemetryFile.java
index 9e992576..33872688 100644
--- a/altoslib/AltosTelemetryFile.java
+++ b/altoslib/AltosTelemetryFile.java
@@ -72,13 +72,16 @@ public class AltosTelemetryFile extends AltosStateIterable {
/* Find boost tick */
AltosState state = start.clone();
+ System.out.printf ("Searching for boost\n");
for (AltosTelemetry telem : telems) {
telem.update_state(state);
- if (state.state >= AltosLib.ao_flight_boost) {
+ if (state.state != AltosLib.ao_flight_invalid && state.state >= AltosLib.ao_flight_boost) {
+ System.out.printf ("boost tick %d\n", state.tick);
start.set_boost_tick(state.tick);
break;
}
}
+ System.out.printf ("Found boost %d\n", start.boost_tick);
}
public Iterator<AltosState> iterator() {
diff --git a/altoslib/AltosTelemetryLocation.java b/altoslib/AltosTelemetryLocation.java
index fa3c24d0..50b9dcfc 100644
--- a/altoslib/AltosTelemetryLocation.java
+++ b/altoslib/AltosTelemetryLocation.java
@@ -61,7 +61,7 @@ public class AltosTelemetryLocation extends AltosTelemetryStandard {
public void update_state(AltosState state) {
super.update_state(state);
- AltosGPS gps = state.make_temp_gps();
+ AltosGPS gps = state.make_temp_gps(false);
gps.nsat = flags & 0xf;
gps.locked = (flags & (1 << 4)) != 0;
diff --git a/altoslib/AltosTelemetrySatellite.java b/altoslib/AltosTelemetrySatellite.java
index 3f70f212..bd94740f 100644
--- a/altoslib/AltosTelemetrySatellite.java
+++ b/altoslib/AltosTelemetrySatellite.java
@@ -42,7 +42,7 @@ public class AltosTelemetrySatellite extends AltosTelemetryStandard {
public void update_state(AltosState state) {
super.update_state(state);
- AltosGPS gps = state.make_temp_gps();
+ AltosGPS gps = state.make_temp_gps(true);
gps.cc_gps_sat = sats;
state.set_temp_gps();
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-31 13:40:17 +0000