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/*
* Copyright © 2011 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_10;
public class AltosTelemetryMegaData extends AltosTelemetryStandard {
int state;
int v_batt;
int v_pyro;
int sense[];
int ground_pres;
int ground_accel;
int accel_plus_g;
int accel_minus_g;
int acceleration;
int speed;
int height_16;
public AltosTelemetryMegaData(int[] bytes) {
super(bytes);
state = uint8(5);
v_batt = int16(6);
v_pyro = int16(8);
sense = new int[6];
for (int i = 0; i < 6; i++) {
sense[i] = uint8(10 + i) << 4;
sense[i] |= sense[i] >> 8;
}
ground_pres = int32(16);
ground_accel = int16(20);
accel_plus_g = int16(22);
accel_minus_g = int16(24);
acceleration = int16(26);
speed = int16(28);
height_16 = int16(30);
}
public void update_state(AltosState state) {
super.update_state(state);
state.set_state(this.state);
state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt));
state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pyro));
state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense[4]));
state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense[5]));
double voltages[] = new double[4];
for (int i = 0; i < 4; i++)
voltages[i] = AltosConvert.mega_pyro_voltage(sense[i]);
state.set_ignitor_voltage(voltages);
state.set_ground_accel(ground_accel);
state.set_ground_pressure(ground_pres);
state.set_accel_g(accel_plus_g, accel_minus_g);
/* Fill in the high bits of height from recent GPS
* data if available, otherwise guess using the
* previous kalman height
*/
state.set_kalman(extend_height(state, height_16),
speed/16.0, acceleration / 16.0);
}
}
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