diff options
Diffstat (limited to 'altosui/AltosTelemetry.java')
| -rw-r--r-- | altosui/AltosTelemetry.java | 267 |
1 files changed, 248 insertions, 19 deletions
diff --git a/altosui/AltosTelemetry.java b/altosui/AltosTelemetry.java index bdb6466a..3eb0efa8 100644 --- a/altosui/AltosTelemetry.java +++ b/altosui/AltosTelemetry.java @@ -27,10 +27,40 @@ import java.util.HashMap; /* - * The telemetry data stream is a bit of a mess at present, with no consistent - * formatting. In particular, the GPS data is formatted for viewing instead of parsing. - * However, the key feature is that every telemetry line contains all of the information - * necessary to describe the current rocket state, including the calibration values + * Version 4 is a replacement with consistent syntax. Each telemetry line + * contains a sequence of space-separated names and values, the values are + * either integers or strings. The names are all unique. All values are + * optional + * + * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944 + * r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764 + * a_s 0 a_b 26439 g_s u g_n 0 s_n 0 + * + * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788 + * r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0 + * + * General header fields + * + * Name Value + * + * VERSION Telemetry version number (4 or more). Must be first. + * c Callsign (string, no spaces allowed) + * n Flight unit serial number (integer) + * f Flight number (integer) + * r Packet RSSI value (integer) + * s Flight computer state (string, no spaces allowed) + * t Flight computer clock (integer in centiseconds) + * + * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports + * in 1/2dB increments while this protocol provides only integers. So, + * the syntax didn't change just the interpretation of the RSSI + * values. + * + * Version 2 of the telemetry data stream is a bit of a mess, with no + * consistent formatting. In particular, the GPS data is formatted for + * viewing instead of parsing. However, the key feature is that every + * telemetry line contains all of the information necessary to + * describe the current rocket state, including the calibration values * for accelerometer and barometer. * * GPS unlocked: @@ -47,25 +77,201 @@ import java.util.HashMap; * GPS 9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W 1790m \ * 0.00m/s(H) 0° 0.00m/s(V) 1.0(hdop) 0(herr) 0(verr) \ * SAT 10 29 30 24 28 5 25 21 20 15 33 1 23 30 24 18 26 10 29 2 26 + * */ public class AltosTelemetry extends AltosRecord { - public AltosTelemetry(String line) throws ParseException, AltosCRCException { - String[] words = line.split("\\s+"); - int i = 0; + /* + * General header fields + * + * Name Value + * + * VERSION Telemetry version number (4 or more). Must be first. + * c Callsign (string, no spaces allowed) + * n Flight unit serial number (integer) + * f Flight number (integer) + * r Packet RSSI value (integer) + * s Flight computer state (string, no spaces allowed) + * t Flight computer clock (integer in centiseconds) + */ - if (words[i].equals("CRC") && words[i+1].equals("INVALID")) { - i += 2; - AltosParse.word(words[i++], "RSSI"); - rssi = AltosParse.parse_int(words[i++]); - throw new AltosCRCException(rssi); - } - if (words[i].equals("CALL")) { - version = 0; - } else { - AltosParse.word (words[i++], "VERSION"); - version = AltosParse.parse_int(words[i++]); - } + final static String AO_TELEM_VERSION = "VERSION"; + final static String AO_TELEM_CALL = "c"; + final static String AO_TELEM_SERIAL = "n"; + final static String AO_TELEM_FLIGHT = "f"; + final static String AO_TELEM_RSSI = "r"; + final static String AO_TELEM_STATE = "s"; + final static String AO_TELEM_TICK = "t"; + + /* + * Raw sensor values + * + * Name Value + * r_a Accelerometer reading (integer) + * r_b Barometer reading (integer) + * r_t Thermometer reading (integer) + * r_v Battery reading (integer) + * r_d Drogue continuity (integer) + * r_m Main continuity (integer) + */ + + final static String AO_TELEM_RAW_ACCEL = "r_a"; + final static String AO_TELEM_RAW_BARO = "r_b"; + final static String AO_TELEM_RAW_THERMO = "r_t"; + final static String AO_TELEM_RAW_BATT = "r_v"; + final static String AO_TELEM_RAW_DROGUE = "r_d"; + final static String AO_TELEM_RAW_MAIN = "r_m"; + + /* + * Sensor calibration values + * + * Name Value + * c_a Ground accelerometer reading (integer) + * c_b Ground barometer reading (integer) + * c_p Accelerometer reading for +1g + * c_m Accelerometer reading for -1g + */ + + final static String AO_TELEM_CAL_ACCEL_GROUND = "c_a"; + final static String AO_TELEM_CAL_BARO_GROUND = "c_b"; + final static String AO_TELEM_CAL_ACCEL_PLUS = "c_p"; + final static String AO_TELEM_CAL_ACCEL_MINUS = "c_m"; + + /* + * Kalman state values + * + * Name Value + * k_h Height above pad (integer, meters) + * k_s Vertical speeed (integer, m/s * 16) + * k_a Vertical acceleration (integer, m/s² * 16) + */ + + final static String AO_TELEM_KALMAN_HEIGHT = "k_h"; + final static String AO_TELEM_KALMAN_SPEED = "k_s"; + final static String AO_TELEM_KALMAN_ACCEL = "k_a"; + + /* + * Ad-hoc flight values + * + * Name Value + * a_a Acceleration (integer, sensor units) + * a_s Speed (integer, integrated acceleration value) + * a_b Barometer reading (integer, sensor units) + */ + + final static String AO_TELEM_ADHOC_ACCEL = "a_a"; + final static String AO_TELEM_ADHOC_SPEED = "a_s"; + final static String AO_TELEM_ADHOC_BARO = "a_b"; + + /* + * GPS values + * + * Name Value + * g_s GPS state (string): + * l locked + * u unlocked + * e error (missing or broken) + * g_n Number of sats used in solution + * g_ns Latitude (degrees * 10e7) + * g_ew Longitude (degrees * 10e7) + * g_a Altitude (integer meters) + * g_Y GPS year (integer) + * g_M GPS month (integer - 1-12) + * g_D GPS day (integer - 1-31) + * g_h GPS hour (integer - 0-23) + * g_m GPS minute (integer - 0-59) + * g_s GPS second (integer - 0-59) + * g_v GPS vertical speed (integer, cm/sec) + * g_s GPS horizontal speed (integer, cm/sec) + * g_c GPS course (integer, 0-359) + * g_hd GPS hdop (integer * 10) + * g_vd GPS vdop (integer * 10) + * g_he GPS h error (integer) + * g_ve GPS v error (integer) + */ + + final static String AO_TELEM_GPS_STATE = "g"; + final static String AO_TELEM_GPS_STATE_LOCKED = "l"; + final static String AO_TELEM_GPS_STATE_UNLOCKED = "u"; + final static String AO_TELEM_GPS_STATE_ERROR = "e"; + final static String AO_TELEM_GPS_NUM_SAT = "g_n"; + final static String AO_TELEM_GPS_LATITUDE = "g_ns"; + final static String AO_TELEM_GPS_LONGITUDE = "g_ew"; + final static String AO_TELEM_GPS_ALTITUDE = "g_a"; + final static String AO_TELEM_GPS_YEAR = "g_Y"; + final static String AO_TELEM_GPS_MONTH = "g_M"; + final static String AO_TELEM_GPS_DAY = "g_D"; + final static String AO_TELEM_GPS_HOUR = "g_h"; + final static String AO_TELEM_GPS_MINUTE = "g_m"; + final static String AO_TELEM_GPS_SECOND = "g_s"; + final static String AO_TELEM_GPS_VERTICAL_SPEED = "g_v"; + final static String AO_TELEM_GPS_HORIZONTAL_SPEED = "g_g"; + final static String AO_TELEM_GPS_COURSE = "g_c"; + final static String AO_TELEM_GPS_HDOP = "g_hd"; + final static String AO_TELEM_GPS_VDOP = "g_vd"; + final static String AO_TELEM_GPS_HERROR = "g_he"; + final static String AO_TELEM_GPS_VERROR = "g_ve"; + + /* + * GPS satellite values + * + * Name Value + * s_n Number of satellites reported (integer) + * s_v0 Space vehicle ID (integer) for report 0 + * s_c0 C/N0 number (integer) for report 0 + * s_v1 Space vehicle ID (integer) for report 1 + * s_c1 C/N0 number (integer) for report 1 + * ... + */ + + final static String AO_TELEM_SAT_NUM = "s_n"; + final static String AO_TELEM_SAT_SVID = "s_v"; + final static String AO_TELEM_SAT_C_N_0 = "s_c"; + + private void parse_v4(String[] words, int i) throws ParseException { + AltosTelemetryMap map = new AltosTelemetryMap(words, i); + + callsign = map.get_string(AO_TELEM_CALL, "N0CALL"); + serial = map.get_int(AO_TELEM_SERIAL, MISSING); + flight = map.get_int(AO_TELEM_FLIGHT, MISSING); + rssi = map.get_int(AO_TELEM_RSSI, MISSING); + state = Altos.state(map.get_string(AO_TELEM_STATE, "invalid")); + tick = map.get_int(AO_TELEM_TICK, 0); + + /* raw sensor values */ + accel = map.get_int(AO_TELEM_RAW_ACCEL, MISSING); + pres = map.get_int(AO_TELEM_RAW_BARO, MISSING); + temp = map.get_int(AO_TELEM_RAW_THERMO, MISSING); + batt = map.get_int(AO_TELEM_RAW_BATT, MISSING); + drogue = map.get_int(AO_TELEM_RAW_DROGUE, MISSING); + main = map.get_int(AO_TELEM_RAW_MAIN, MISSING); + + /* sensor calibration information */ + ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, MISSING); + ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, MISSING); + accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, MISSING); + accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, MISSING); + + /* flight computer values */ + acceleration = map.get_int(AO_TELEM_KALMAN_ACCEL, MISSING); + if (acceleration != MISSING) + acceleration /= 16.0; + speed = map.get_int(AO_TELEM_KALMAN_SPEED, MISSING); + if (speed != MISSING) + speed /= 16.0; + height = map.get_int(AO_TELEM_KALMAN_HEIGHT, MISSING); + + flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, MISSING); + flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, MISSING); + flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, MISSING); + + if (map.has(AO_TELEM_GPS_STATE)) + gps = new AltosGPS(map); + else + gps = null; + } + + private void parse_legacy(String[] words, int i) throws ParseException { AltosParse.word (words[i++], "CALL"); callsign = words[i++]; @@ -140,4 +346,27 @@ public class AltosTelemetry extends AltosRecord { gps = new AltosGPS(words, i, version); } + + public AltosTelemetry(String line) throws ParseException, AltosCRCException { + String[] words = line.split("\\s+"); + int i = 0; + + if (words[i].equals("CRC") && words[i+1].equals("INVALID")) { + i += 2; + AltosParse.word(words[i++], "RSSI"); + rssi = AltosParse.parse_int(words[i++]); + throw new AltosCRCException(rssi); + } + if (words[i].equals("CALL")) { + version = 0; + } else { + AltosParse.word (words[i++], "VERSION"); + version = AltosParse.parse_int(words[i++]); + } + + if (version < 4) + parse_legacy(words, i); + else + parse_v4(words, i); + } } |