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/*
* Copyright © 2012 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 AltosRecordMM extends AltosRecord {
/* Sensor values */
public int accel;
public int pres;
public int temp;
public int v_batt;
public int v_pyro;
public int sense[];
public int ground_accel;
public int ground_pres;
public int accel_plus_g;
public int accel_minus_g;
public int flight_accel;
public int flight_vel;
public int flight_pres;
public final static int num_sense = 6;
public AltosIMU imu;
public AltosMag mag;
static double adc(int raw) {
return raw / 4095.0;
}
public double pressure() {
if (pres != MISSING)
return pres;
return MISSING;
}
public double ground_pressure() {
if (ground_pres != MISSING)
return ground_pres;
return MISSING;
}
public double battery_voltage() {
if (v_batt != MISSING)
return 3.3 * adc(v_batt) * (15.0 + 27.0) / 27.0;
return MISSING;
}
static double pyro(int raw) {
if (raw != MISSING)
return 3.3 * adc(raw) * (100.0 + 27.0) / 27.0;
return MISSING;
}
public double main_voltage() {
return pyro(sense[1]);
}
public double drogue_voltage() {
return pyro(sense[0]);
}
public double temperature() {
if (temp != MISSING)
return temp / 100.0;
return MISSING;
}
public AltosIMU imu() { return imu; }
public AltosMag mag() { return mag; }
double accel_counts_per_mss() {
double counts_per_g = Math.abs(accel_minus_g - accel_plus_g) / 2;
return counts_per_g / 9.80665;
}
public double acceleration() {
if (ground_accel == MISSING || accel == MISSING)
return MISSING;
if (accel_minus_g == MISSING || accel_plus_g == MISSING)
return MISSING;
return (ground_accel - accel) / accel_counts_per_mss();
}
public void copy (AltosRecordMM old) {
super.copy(old);
accel = old.accel;
pres = old.pres;
temp = old.temp;
v_batt = old.v_batt;
v_pyro = old.v_pyro;
sense = new int[num_sense];
for (int i = 0; i < num_sense; i++)
sense[i] = old.sense[i];
ground_accel = old.ground_accel;
ground_pres = old.ground_pres;
accel_plus_g = old.accel_plus_g;
accel_minus_g = old.accel_minus_g;
flight_accel = old.flight_accel;
flight_vel = old.flight_vel;
flight_pres = old.flight_pres;
imu = old.imu;
mag = old.mag;
}
public AltosRecordMM clone() {
return new AltosRecordMM(this);
}
void make_missing() {
accel = MISSING;
pres = MISSING;
temp = MISSING;
v_batt = MISSING;
v_pyro = MISSING;
sense = new int[num_sense];
for (int i = 0; i < num_sense; i++)
sense[i] = MISSING;
ground_accel = MISSING;
ground_pres = MISSING;
accel_plus_g = MISSING;
accel_minus_g = MISSING;
flight_accel = 0;
flight_vel = 0;
flight_pres = 0;
imu = new AltosIMU();
mag = new AltosMag();
}
public AltosRecordMM(AltosRecord old) {
super.copy(old);
make_missing();
}
public AltosRecordMM(AltosRecordMM old) {
copy(old);
}
public AltosRecordMM() {
super();
make_missing();
}
}
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