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Diffstat (limited to 'ao-tools/altosui/AltosState.java')
| -rw-r--r-- | ao-tools/altosui/AltosState.java | 166 |
1 files changed, 166 insertions, 0 deletions
diff --git a/ao-tools/altosui/AltosState.java b/ao-tools/altosui/AltosState.java new file mode 100644 index 00000000..da465c75 --- /dev/null +++ b/ao-tools/altosui/AltosState.java @@ -0,0 +1,166 @@ +/* + * Copyright © 2010 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. + */ + +/* + * Track flight state from telemetry data stream + */ + +package altosui; + +import altosui.AltosTelemetry; +import altosui.AltosGPS; + +public class AltosState { + AltosTelemetry data; + AltosTelemetry prev_data; + + /* derived data */ + + double report_time; + + int state; + boolean ascent; /* going up? */ + + double ground_altitude; + double height; + double speed; + double acceleration; + double battery; + double temperature; + double main_sense; + double drogue_sense; + double baro_speed; + + double max_height; + double max_acceleration; + double max_speed; + + AltosGPS gps; + AltosGPSTracking gps_tracking; + + boolean gps_valid; + double pad_lat; + double pad_lon; + double pad_alt; + double pad_lat_total; + double pad_lon_total; + double pad_alt_total; + int npad; + int prev_npad; + + AltosGreatCircle from_pad; + + double gps_height; + + int speak_tick; + double speak_altitude; + + static double + aoview_time() + { + return System.currentTimeMillis() / 1000.0; + } + + public AltosState (AltosTelemetry cur, AltosTelemetry prev, int prev_npad) { + int i; + double new_height; + double height_change; + double time_change; + double accel_counts_per_mss; + int tick_count; + + data = cur; + prev_data = prev; + npad = prev_npad; + tick_count = data.tick; + if (tick_count < prev_data.tick) + tick_count += 65536; + time_change = (tick_count - prev_data.tick) / 100.0; + + report_time = aoview_time(); + + ground_altitude = AltosConvert.cc_pressure_to_altitude(data.ground_pres); + new_height = AltosConvert.cc_pressure_to_altitude(data.flight_pres) - ground_altitude; + height_change = new_height - height; + height = new_height; + if (time_change > 0) + baro_speed = (baro_speed * 3 + (height_change / time_change)) / 4.0; + accel_counts_per_mss = ((data.accel_minus_g - data.accel_plus_g) / 2.0) / 9.80665; + acceleration = (data.ground_accel - data.flight_accel) / accel_counts_per_mss; + speed = data.flight_vel / (accel_counts_per_mss * 100.0); + temperature = AltosConvert.cc_thermometer_to_temperature(data.temp); + drogue_sense = AltosConvert.cc_ignitor_to_voltage(data.drogue); + main_sense = AltosConvert.cc_ignitor_to_voltage(data.main); + battery = AltosConvert.cc_battery_to_voltage(data.batt); + state = data.state(); + if (state == AltosTelemetry.ao_flight_pad) { + if (data.gps.gps_locked && data.gps.nsat >= 4) { + npad++; + pad_lat_total += data.gps.lat; + pad_lon_total += data.gps.lon; + pad_alt_total += data.gps.alt; + if (npad > 1) { + pad_lat = (pad_lat * 31 + data.gps.lat) / 32.0; + pad_lon = (pad_lon * 31 + data.gps.lon) / 32.0; + pad_alt = (pad_alt * 31 + data.gps.alt) / 32.0; + } else { + pad_lat = data.gps.lat; + pad_lon = data.gps.lon; + pad_alt = data.gps.alt; + } + } + } + ascent = (AltosTelemetry.ao_flight_boost <= state && + state <= AltosTelemetry.ao_flight_coast); + + /* Only look at accelerometer data on the way up */ + if (ascent && acceleration > max_acceleration) + max_acceleration = acceleration; + if (ascent && speed > max_speed) + max_speed = speed; + + if (height > max_height) + max_height = height; + gps.gps_locked = data.gps.gps_locked; + gps.gps_connected = data.gps.gps_connected; + if (data.gps.gps_locked) { + gps = data.gps; + gps_valid = true; + if (npad > 0) + from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon); + } + if (npad > 0) { + gps_height = gps.alt - pad_alt; + } else { + gps_height = 0; + } + } + + public AltosState(AltosTelemetry cur) { + this(cur, cur, 0); + } + + public AltosState (AltosTelemetry cur, AltosState prev) { + this(cur, prev.data, prev.npad); + if (gps == null) { + gps = prev.gps; + gps_valid = prev.gps_valid; + } + if (gps_tracking == null) + gps_tracking = prev.gps_tracking; + } +} |