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/*
* 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 or eeprom data stream
*/
package org.altusmetrum.AltosLib;
public class AltosState {
public AltosRecord data;
/* derived data */
public long report_time;
public double time;
public double time_change;
public int tick;
public int state;
public boolean landed;
public boolean ascent; /* going up? */
public boolean boost; /* under power */
public double ground_altitude;
public double altitude;
public double height;
public double acceleration;
public double battery;
public double temperature;
public double main_sense;
public double drogue_sense;
public double accel_speed;
public double baro_speed;
public double max_height;
public double max_acceleration;
public double max_accel_speed;
public double max_baro_speed;
public AltosGPS gps;
public AltosIMU imu;
public AltosMag mag;
public static final int MIN_PAD_SAMPLES = 10;
public int npad;
public int ngps;
public int gps_waiting;
public boolean gps_ready;
public AltosGreatCircle from_pad;
public double elevation; /* from pad */
public double range; /* total distance */
public double gps_height;
public double pad_lat, pad_lon, pad_alt;
public int speak_tick;
public double speak_altitude;
public double speed() {
if (ascent)
return accel_speed;
else
return baro_speed;
}
public double max_speed() {
if (max_accel_speed != 0)
return max_accel_speed;
return max_baro_speed;
}
public void init (AltosRecord cur, AltosState prev_state) {
data = cur;
/* Discard previous state if it was for a different board */
if (prev_state != null && prev_state.data.serial != data.serial)
prev_state = null;
ground_altitude = data.ground_altitude();
altitude = data.altitude();
if (data.kalman_height != AltosRecord.MISSING)
height = data.kalman_height;
else {
if (prev_state != null)
height = (prev_state.height * 15 + altitude - ground_altitude) / 16.0;
}
report_time = System.currentTimeMillis();
if (data.kalman_acceleration != AltosRecord.MISSING)
acceleration = data.kalman_acceleration;
else
acceleration = data.acceleration();
temperature = data.temperature();
drogue_sense = data.drogue_voltage();
main_sense = data.main_voltage();
battery = data.battery_voltage();
tick = data.tick;
state = data.state;
if (prev_state != null) {
/* Preserve any existing gps data */
npad = prev_state.npad;
ngps = prev_state.ngps;
gps = prev_state.gps;
pad_lat = prev_state.pad_lat;
pad_lon = prev_state.pad_lon;
pad_alt = prev_state.pad_alt;
max_height = prev_state.max_height;
max_acceleration = prev_state.max_acceleration;
max_accel_speed = prev_state.max_accel_speed;
max_baro_speed = prev_state.max_baro_speed;
imu = prev_state.imu;
mag = prev_state.mag;
/* make sure the clock is monotonic */
while (tick < prev_state.tick)
tick += 65536;
time_change = (tick - prev_state.tick) / 100.0;
if (data.kalman_speed != AltosRecord.MISSING) {
baro_speed = accel_speed = data.kalman_speed;
} else {
/* compute barometric speed */
double height_change = height - prev_state.height;
if (time_change > 0)
baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
else
baro_speed = prev_state.baro_speed;
if (acceleration == AltosRecord.MISSING) {
/* Fill in mising acceleration value */
accel_speed = baro_speed;
if (time_change > 0)
acceleration = (accel_speed - prev_state.accel_speed) / time_change;
else
acceleration = prev_state.acceleration;
} else {
/* compute accelerometer speed */
accel_speed = prev_state.accel_speed + acceleration * time_change;
}
}
} else {
npad = 0;
ngps = 0;
gps = null;
baro_speed = 0;
accel_speed = 0;
time_change = 0;
if (acceleration == AltosRecord.MISSING)
acceleration = 0;
}
time = tick / 100.0;
if (cur.new_gps && (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_idle)) {
/* Track consecutive 'good' gps reports, waiting for 10 of them */
if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
npad++;
else
npad = 0;
/* Average GPS data while on the pad */
if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
if (ngps > 1) {
/* filter pad position */
pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
} else {
pad_lat = data.gps.lat;
pad_lon = data.gps.lon;
pad_alt = data.gps.alt;
}
ngps++;
}
} else {
if (ngps == 0)
pad_alt = ground_altitude;
}
gps_waiting = MIN_PAD_SAMPLES - npad;
if (gps_waiting < 0)
gps_waiting = 0;
gps_ready = gps_waiting == 0;
ascent = (AltosLib.ao_flight_boost <= state &&
state <= AltosLib.ao_flight_coast);
boost = (AltosLib.ao_flight_boost == state);
/* Only look at accelerometer data under boost */
if (boost && acceleration > max_acceleration && acceleration != AltosRecord.MISSING)
max_acceleration = acceleration;
if (boost && accel_speed > max_accel_speed && accel_speed != AltosRecord.MISSING)
max_accel_speed = accel_speed;
if (boost && baro_speed > max_baro_speed && baro_speed != AltosRecord.MISSING)
max_baro_speed = baro_speed;
if (height > max_height && height != AltosRecord.MISSING)
max_height = height;
if (data.gps != null) {
if (gps == null || !gps.locked || data.gps.locked)
gps = data.gps;
if (ngps > 0 && gps.locked) {
from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
}
}
elevation = 0;
range = -1;
if (ngps > 0) {
gps_height = gps.alt - pad_alt;
if (from_pad != null) {
elevation = Math.atan2(height, from_pad.distance) * 180 / Math.PI;
range = Math.sqrt(height * height + from_pad.distance * from_pad.distance);
}
} else {
gps_height = 0;
}
}
public AltosState(AltosRecord cur) {
init(cur, null);
}
public AltosState (AltosRecord cur, AltosState prev) {
init(cur, prev);
}
}
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