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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 altosui;
public class AltosState {
AltosRecord data;
/* derived data */
long report_time;
double time;
double time_change;
int tick;
int state;
boolean landed;
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;
double max_baro_speed;
AltosGPS gps;
double pad_lat;
double pad_lon;
double pad_alt;
static final int MIN_PAD_SAMPLES = 10;
int npad;
int ngps;
int gps_waiting;
boolean gps_ready;
AltosGreatCircle from_pad;
double elevation; /* from pad */
double range; /* total distance */
double gps_height;
int speak_tick;
double speak_altitude;
void init (AltosRecord cur, AltosState prev_state) {
int i;
AltosRecord prev;
data = cur;
ground_altitude = data.ground_altitude();
height = data.filtered_height();
report_time = System.currentTimeMillis();
acceleration = data.acceleration();
speed = data.accel_speed();
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_speed = prev_state.max_speed;
max_baro_speed = prev_state.max_baro_speed;
/* make sure the clock is monotonic */
while (tick < prev_state.tick)
tick += 65536;
time_change = (tick - prev_state.tick) / 100.0;
/* compute barometric speed */
double height_change = height - prev_state.height;
if (data.speed != AltosRecord.MISSING)
baro_speed = data.speed;
else {
if (time_change > 0)
baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
else
baro_speed = prev_state.baro_speed;
}
} else {
npad = 0;
ngps = 0;
gps = null;
baro_speed = 0;
time_change = 0;
}
time = tick / 100.0;
if (state == Altos.ao_flight_pad || state == Altos.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++;
}
}
gps_waiting = MIN_PAD_SAMPLES - npad;
if (gps_waiting < 0)
gps_waiting = 0;
gps_ready = gps_waiting == 0;
ascent = (Altos.ao_flight_boost <= state &&
state <= Altos.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 (ascent && baro_speed > max_baro_speed)
max_baro_speed = baro_speed;
if (height > max_height)
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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