809 lines
24 KiB
Java
809 lines
24 KiB
Java
/*
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* Copyright © 2017 Keith Packard <keithp@keithp.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*/
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package org.altusmetrum.altoslib_14;
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import java.util.*;
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public class AltosFlightSeries extends AltosDataListener {
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public ArrayList<AltosTimeSeries> series = new ArrayList<AltosTimeSeries>();
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public double speed_filter_width = 4.0;
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public double accel_filter_width = 1.0;
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public int[] indices() {
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int[] indices = new int[series.size()];
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for (int i = 0; i < indices.length; i++)
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indices[i] = -1;
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step_indices(indices);
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return indices;
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}
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private double time(int id, int index) {
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AltosTimeSeries s = series.get(id);
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if (index < 0)
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return Double.NEGATIVE_INFINITY;
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if (index < s.values.size())
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return s.values.get(index).time;
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return Double.POSITIVE_INFINITY;
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}
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public boolean step_indices(int[] indices) {
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double min_next = time(0, indices[0]+1);
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for (int i = 1; i < indices.length; i++) {
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double next = time(i, indices[i]+1);
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if (next < min_next)
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min_next = next;
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}
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if (min_next == Double.POSITIVE_INFINITY)
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return false;
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for (int i = 0; i < indices.length; i++) {
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double t = time(i, indices[i] + 1);
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if (t <= min_next)
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indices[i]++;
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}
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return true;
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}
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public double time(int[] indices) {
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double max = time(0, indices[0]);
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for (int i = 1; i < indices.length; i++) {
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double t = time(i, indices[i]);
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if (t >= max)
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max = t;
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}
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return max;
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}
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public double value(String name, int[] indices) {
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for (int i = 0; i < indices.length; i++) {
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AltosTimeSeries s = series.get(i);
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if (s.label.equals(name)) {
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int index = indices[i];
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if (index < 0)
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index = 0;
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if (index >= s.values.size())
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index = s.values.size() - 1;
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return s.values.get(index).value;
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}
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}
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return AltosLib.MISSING;
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}
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public double value(String name, double time) {
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for (AltosTimeSeries s : series) {
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if (s.label.equals(name))
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return s.value(time);
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}
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return AltosLib.MISSING;
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}
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public double value_before(String name, double time) {
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for (AltosTimeSeries s : series) {
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if (s.label.equals(name))
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return s.value_before(time);
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}
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return AltosLib.MISSING;
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}
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public double value_after(String name, double time) {
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for (AltosTimeSeries s : series) {
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if (s.label.equals(name))
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return s.value_after(time);
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}
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return AltosLib.MISSING;
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}
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public AltosTimeSeries make_series(String label, AltosUnits units) {
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return new AltosTimeSeries(label, units);
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}
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public void add_series(AltosTimeSeries s) {
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for (int e = 0; e < series.size(); e++) {
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if (s.compareTo(series.get(e)) < 0){
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series.add(e, s);
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return;
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}
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}
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series.add(s);
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}
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public AltosTimeSeries add_series(String label, AltosUnits units) {
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AltosTimeSeries s = make_series(label, units);
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add_series(s);
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return s;
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}
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public void remove_series(AltosTimeSeries s) {
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series.remove(s);
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}
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public boolean has_series(String label) {
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for (AltosTimeSeries s : series)
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if (s.label.equals(label))
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return true;
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return false;
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}
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public AltosTimeSeries state_series;
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public static final String state_name = "State";
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public void set_state(int state) {
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if (state != AltosLib.ao_flight_pad && state != AltosLib.MISSING && state != AltosLib.ao_flight_stateless) {
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if (state_series == null)
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state_series = add_series(state_name, AltosConvert.state_name);
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if (this.state() != state)
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state_series.add(time(), state);
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}
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super.set_state(state);
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}
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public AltosTimeSeries accel_series;
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public boolean accel_computed;
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public static final String accel_name = "Accel";
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public AltosTimeSeries vert_accel_series;
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public static final String vert_accel_name = "Vertical Accel";
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public void set_acceleration(double acceleration) {
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if (acceleration == AltosLib.MISSING)
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return;
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if (accel_series == null)
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accel_series = add_series(accel_name, AltosConvert.accel);
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accel_series.add(time(), acceleration);
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accel_computed = false;
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}
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private AltosTimeSeries compute_accel() {
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AltosTimeSeries new_accel_series = null;
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if (speed_series != null) {
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AltosTimeSeries temp_series;
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if (accel_filter_width > 0) {
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temp_series = make_series(speed_name, AltosConvert.speed);
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speed_series.filter(temp_series, accel_filter_width);
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} else
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temp_series = speed_series;
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new_accel_series = make_series(accel_name, AltosConvert.accel);
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temp_series.differentiate(new_accel_series);
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}
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return new_accel_series;
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}
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public void set_filter(double speed_filter, double accel_filter) {
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this.speed_filter_width = speed_filter;
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this.accel_filter_width = accel_filter;
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AltosTimeSeries new_speed_series = compute_speed();
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if (new_speed_series != null) {
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speed_series.erase_values();
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for (AltosTimeValue tv : new_speed_series)
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speed_series.add(tv);
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}
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if (accel_computed) {
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AltosTimeSeries new_accel_series = compute_accel();
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if (new_accel_series != null) {
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accel_series.erase_values();
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for (AltosTimeValue tv : new_accel_series)
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accel_series.add(tv);
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}
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}
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}
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public void set_received_time(long received_time) {
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}
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public AltosTimeSeries tick_series;
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public static final String tick_name = "Tick";
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public void set_tick(int tick) {
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super.set_tick(tick);
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if (tick_series == null)
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tick_series = add_series(tick_name, null);
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tick_series.add(time(), tick);
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}
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public AltosTimeSeries rssi_series;
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public static final String rssi_name = "RSSI";
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public AltosTimeSeries status_series;
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public static final String status_name = "Radio Status";
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public void set_rssi(int rssi, int status) {
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if (rssi_series == null) {
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rssi_series = add_series(rssi_name, null);
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status_series = add_series(status_name, null);
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}
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rssi_series.add(time(), rssi);
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status_series.add(time(), status);
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}
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public AltosTimeSeries pressure_series;
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public static final String pressure_name = "Pressure";
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public AltosTimeSeries altitude_series;
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public static final String altitude_name = "Altitude";
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public AltosTimeSeries height_series;
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public double max_height = AltosLib.MISSING;
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public void set_min_pressure(double pa) {
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double ground_altitude = cal_data().ground_altitude;
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if (ground_altitude != AltosLib.MISSING)
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max_height = AltosConvert.pressure_to_altitude(pa) -
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ground_altitude;
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}
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public static final String height_name = "Height";
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public void set_pressure(double pa) {
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if (pa == AltosLib.MISSING)
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return;
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if (pressure_series == null)
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pressure_series = add_series(pressure_name, AltosConvert.pressure);
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pressure_series.add(time(), pa);
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if (altitude_series == null)
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altitude_series = add_series(altitude_name, AltosConvert.height);
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if (cal_data().ground_pressure == AltosLib.MISSING)
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cal_data().set_ground_pressure(pa);
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double altitude = AltosConvert.pressure_to_altitude(pa);
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altitude_series.add(time(), altitude);
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}
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private void compute_height() {
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if (height_series == null) {
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double ground_altitude = cal_data().ground_altitude;
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if (ground_altitude != AltosLib.MISSING && altitude_series != null) {
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height_series = add_series(height_name, AltosConvert.height);
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for (AltosTimeValue alt : altitude_series)
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height_series.add(alt.time, alt.value - ground_altitude);
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} else if (speed_series != null) {
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height_series = add_series(height_name, AltosConvert.height);
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speed_series.integrate(height_series);
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}
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}
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if (gps_height == null && cal_data().gps_pad != null && cal_data().gps_pad.alt != AltosLib.MISSING && gps_altitude != null) {
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double gps_ground_altitude = cal_data().gps_pad.alt;
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gps_height = add_series(gps_height_name, AltosConvert.height);
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for (AltosTimeValue gps_alt : gps_altitude)
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gps_height.add(gps_alt.time, gps_alt.value - gps_ground_altitude);
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}
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}
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public AltosTimeSeries speed_series;
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public static final String speed_name = "Speed";
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private AltosTimeSeries compute_speed() {
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AltosTimeSeries new_speed_series = null;
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AltosTimeSeries alt_speed_series = null;
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AltosTimeSeries accel_speed_series = null;
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if (altitude_series != null) {
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AltosTimeSeries temp_series;
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if (speed_filter_width > 0) {
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temp_series = make_series(speed_name, AltosConvert.height);
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altitude_series.filter(temp_series, speed_filter_width);
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} else
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temp_series = altitude_series;
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alt_speed_series = make_series(speed_name, AltosConvert.speed);
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temp_series.differentiate(alt_speed_series);
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}
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if (accel_series != null && !accel_computed) {
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if (orient_series != null) {
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vert_accel_series = add_series(vert_accel_name, AltosConvert.accel);
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for (AltosTimeValue a : accel_series) {
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double orient = orient_series.value(a.time);
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double a_abs = a.value + AltosConvert.gravity;
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double v_a = a_abs * Math.cos(AltosConvert.degrees_to_radians(orient)) - AltosConvert.gravity;
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vert_accel_series.add(a.time, v_a);
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}
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}
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AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
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if (vert_accel_series != null)
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vert_accel_series.integrate(temp_series);
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else
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accel_series.integrate(temp_series);
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AltosTimeSeries clip_series = make_series(speed_name, AltosConvert.speed);
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temp_series.clip(clip_series, 0, Double.POSITIVE_INFINITY);
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accel_speed_series = make_series(speed_name, AltosConvert.speed);
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clip_series.filter(accel_speed_series, 0.1);
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}
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if (alt_speed_series != null && accel_speed_series != null) {
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double apogee_time = AltosLib.MISSING;
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if (state_series != null) {
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for (AltosTimeValue d : state_series) {
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if (d.value >= AltosLib.ao_flight_drogue){
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apogee_time = d.time;
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break;
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}
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}
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}
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if (apogee_time == AltosLib.MISSING) {
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new_speed_series = alt_speed_series;
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} else {
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new_speed_series = make_series(speed_name, AltosConvert.speed);
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for (AltosTimeValue d : accel_speed_series) {
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if (d.time <= apogee_time)
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new_speed_series.add(d);
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}
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for (AltosTimeValue d : alt_speed_series) {
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if (d.time > apogee_time)
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new_speed_series.add(d);
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}
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}
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} else if (alt_speed_series != null) {
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new_speed_series = alt_speed_series;
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} else if (accel_speed_series != null) {
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new_speed_series = accel_speed_series;
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}
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return new_speed_series;
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}
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public AltosTimeSeries orient_series;
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public AltosTimeSeries azimuth_series;
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public static final String orient_name = "Tilt Angle";
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public static final String azimuth_name = "Azimuth Angle";
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private void compute_orient() {
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if (orient_series != null)
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return;
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if (accel_ground_across == AltosLib.MISSING)
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return;
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AltosCalData cal_data = cal_data();
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if (cal_data.pad_orientation == AltosLib.MISSING)
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return;
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if (cal_data.accel_zero_across == AltosLib.MISSING)
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return;
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if (cal_data.gyro_zero_roll == AltosLib.MISSING)
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return;
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AltosRotation rotation = new AltosRotation(accel_ground_across,
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accel_ground_through,
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accel_ground_along,
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cal_data.pad_orientation);
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double prev_time = ground_time;
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orient_series = add_series(orient_name, AltosConvert.orient);
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orient_series.add(ground_time, rotation.tilt());
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azimuth_series = add_series(azimuth_name, AltosConvert.orient);
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azimuth_series.add(ground_time, rotation.azimuth());
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for (AltosTimeValue roll_v : gyro_roll) {
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double time = roll_v.time;
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double dt = time - prev_time;
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if (dt > 0) {
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double roll = AltosConvert.degrees_to_radians(roll_v.value) * dt;
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double pitch = AltosConvert.degrees_to_radians(gyro_pitch.value(time)) * dt;
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double yaw = AltosConvert.degrees_to_radians(gyro_yaw.value(time)) * dt;
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rotation.rotate(pitch, yaw, roll);
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orient_series.add(time, rotation.tilt());
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azimuth_series.add(time, rotation.azimuth());
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}
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prev_time = time;
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}
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}
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public AltosTimeSeries kalman_height_series, kalman_speed_series, kalman_accel_series;
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public static final String kalman_height_name = "Kalman Height";
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public static final String kalman_speed_name = "Kalman Speed";
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public static final String kalman_accel_name = "Kalman Accel";
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public void set_kalman(double height, double speed, double acceleration) {
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if (kalman_height_series == null) {
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kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
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kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
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kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
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}
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kalman_height_series.add(time(), height);
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kalman_speed_series.add(time(), speed);
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kalman_accel_series.add(time(), acceleration);
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}
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public AltosTimeSeries thrust_series;
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public static final String thrust_name = "Thrust";
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public void set_thrust(double N) {
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if (thrust_series == null)
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thrust_series = add_series(thrust_name, AltosConvert.force);
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thrust_series.add(time(), N);
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}
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public AltosTimeSeries temperature_series;
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public static final String temperature_name = "Temperature";
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public void set_temperature(double deg_c) {
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if (temperature_series == null)
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temperature_series = add_series(temperature_name, AltosConvert.temperature);
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temperature_series.add(time(), deg_c);
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}
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public AltosTimeSeries battery_voltage_series;
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public static final String battery_voltage_name = "Battery Voltage";
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public void set_battery_voltage(double volts) {
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if (volts == AltosLib.MISSING)
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return;
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if (battery_voltage_series == null)
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battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
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battery_voltage_series.add(time(), volts);
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}
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public AltosTimeSeries apogee_voltage_series;
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public static final String apogee_voltage_name = "Apogee Voltage";
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public void set_apogee_voltage(double volts) {
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if (volts == AltosLib.MISSING)
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return;
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if (apogee_voltage_series == null)
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apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
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apogee_voltage_series.add(time(), volts);
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}
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public AltosTimeSeries main_voltage_series;
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public static final String main_voltage_name = "Main Voltage";
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public void set_main_voltage(double volts) {
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if (volts == AltosLib.MISSING)
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return;
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if (main_voltage_series == null)
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main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
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main_voltage_series.add(time(), volts);
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}
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public ArrayList<AltosGPSTimeValue> gps_series;
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public AltosGPS gps_before(double time) {
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AltosGPSTimeValue nearest = null;
|
|
for (AltosGPSTimeValue gtv : gps_series) {
|
|
if (nearest == null)
|
|
nearest = gtv;
|
|
else {
|
|
if (gtv.time <= time) {
|
|
if (nearest.time <= time && gtv.time > nearest.time)
|
|
nearest = gtv;
|
|
} else {
|
|
if (nearest.time > time && gtv.time < nearest.time)
|
|
nearest = gtv;
|
|
}
|
|
}
|
|
}
|
|
if (nearest != null)
|
|
return nearest.gps;
|
|
else
|
|
return null;
|
|
}
|
|
|
|
public AltosTimeSeries sats_in_view;
|
|
public AltosTimeSeries sats_in_soln;
|
|
public AltosTimeSeries gps_altitude;
|
|
public AltosTimeSeries gps_height;
|
|
public AltosTimeSeries gps_ground_speed;
|
|
public AltosTimeSeries gps_ascent_rate;
|
|
public AltosTimeSeries gps_course;
|
|
public AltosTimeSeries gps_speed;
|
|
public AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
|
|
|
|
public static final String sats_in_view_name = "Satellites in view";
|
|
public static final String sats_in_soln_name = "Satellites in solution";
|
|
public static final String gps_altitude_name = "GPS Altitude";
|
|
public static final String gps_height_name = "GPS Height";
|
|
public static final String gps_ground_speed_name = "GPS Ground Speed";
|
|
public static final String gps_ascent_rate_name = "GPS Ascent Rate";
|
|
public static final String gps_course_name = "GPS Course";
|
|
public static final String gps_speed_name = "GPS Speed";
|
|
public static final String gps_pdop_name = "GPS Dilution of Precision";
|
|
public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
|
|
public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
|
|
|
|
public void set_gps(AltosGPS gps, boolean new_location, boolean new_sats) {
|
|
super.set_gps(gps, new_location, new_sats);
|
|
AltosCalData cal_data = cal_data();
|
|
if (gps_series == null)
|
|
gps_series = new ArrayList<AltosGPSTimeValue>();
|
|
gps_series.add(new AltosGPSTimeValue(time(), gps));
|
|
|
|
if (new_location) {
|
|
if (sats_in_soln == null) {
|
|
sats_in_soln = add_series(sats_in_soln_name, null);
|
|
}
|
|
sats_in_soln.add(time(), gps.nsat);
|
|
if (gps.pdop != AltosLib.MISSING) {
|
|
if (gps_pdop == null)
|
|
gps_pdop = add_series(gps_pdop_name, null);
|
|
gps_pdop.add(time(), gps.pdop);
|
|
}
|
|
if (gps.hdop != AltosLib.MISSING) {
|
|
if (gps_hdop == null)
|
|
gps_hdop = add_series(gps_hdop_name, null);
|
|
gps_hdop.add(time(), gps.hdop);
|
|
}
|
|
if (gps.vdop != AltosLib.MISSING) {
|
|
if (gps_vdop == null)
|
|
gps_vdop = add_series(gps_vdop_name, null);
|
|
gps_vdop.add(time(), gps.vdop);
|
|
}
|
|
if (gps.locked) {
|
|
if (gps.alt != AltosLib.MISSING) {
|
|
if (gps_altitude == null)
|
|
gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
|
|
gps_altitude.add(time(), gps.alt);
|
|
}
|
|
if (gps.ground_speed != AltosLib.MISSING) {
|
|
if (gps_ground_speed == null)
|
|
gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
|
|
gps_ground_speed.add(time(), gps.ground_speed);
|
|
}
|
|
if (gps.climb_rate != AltosLib.MISSING) {
|
|
if (gps_ascent_rate == null)
|
|
gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
|
|
gps_ascent_rate.add(time(), gps.climb_rate);
|
|
}
|
|
if (gps.course != AltosLib.MISSING) {
|
|
if (gps_course == null)
|
|
gps_course = add_series(gps_course_name, null);
|
|
gps_course.add(time(), gps.course);
|
|
}
|
|
if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING) {
|
|
if (gps_speed == null)
|
|
gps_speed = add_series(gps_speed_name, null);
|
|
gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
|
|
gps.climb_rate * gps.climb_rate));
|
|
}
|
|
}
|
|
}
|
|
if (new_sats) {
|
|
if (gps.cc_gps_sat != null) {
|
|
if (sats_in_view == null)
|
|
sats_in_view = add_series(sats_in_view_name, null);
|
|
sats_in_view.add(time(), gps.cc_gps_sat.length);
|
|
}
|
|
}
|
|
}
|
|
|
|
public static final String accel_along_name = "Accel Along";
|
|
public static final String accel_across_name = "Accel Across";
|
|
public static final String accel_through_name = "Accel Through";
|
|
|
|
public AltosTimeSeries accel_along, accel_across, accel_through;
|
|
|
|
public static final String gyro_roll_name = "Roll Rate";
|
|
public static final String gyro_pitch_name = "Pitch Rate";
|
|
public static final String gyro_yaw_name = "Yaw Rate";
|
|
|
|
public AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
|
|
|
|
public static final String mag_along_name = "Magnetic Field Along";
|
|
public static final String mag_across_name = "Magnetic Field Across";
|
|
public static final String mag_through_name = "Magnetic Field Through";
|
|
public static final String mag_total_name = "Magnetic Field Strength";
|
|
public static final String compass_name = "Compass";
|
|
|
|
public AltosTimeSeries mag_along, mag_across, mag_through, mag_total, compass;
|
|
|
|
public void set_accel(double along, double across, double through) {
|
|
if (accel_along == null) {
|
|
accel_along = add_series(accel_along_name, AltosConvert.accel);
|
|
accel_across = add_series(accel_across_name, AltosConvert.accel);
|
|
accel_through = add_series(accel_through_name, AltosConvert.accel);
|
|
}
|
|
accel_along.add(time(), along);
|
|
accel_across.add(time(), across);
|
|
accel_through.add(time(), through);
|
|
}
|
|
|
|
private double accel_ground_along = AltosLib.MISSING;
|
|
private double accel_ground_across = AltosLib.MISSING;
|
|
private double accel_ground_through = AltosLib.MISSING;
|
|
|
|
private double ground_time;
|
|
|
|
public void set_accel_ground(double along, double across, double through) {
|
|
accel_ground_along = along;
|
|
accel_ground_across = across;
|
|
accel_ground_through = through;
|
|
ground_time = time();
|
|
}
|
|
|
|
public void set_gyro(double roll, double pitch, double yaw) {
|
|
if (gyro_roll == null) {
|
|
gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
|
|
gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
|
|
gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
|
|
}
|
|
gyro_roll.add(time(), roll);
|
|
gyro_pitch.add(time(), pitch);
|
|
gyro_yaw.add(time(), yaw);
|
|
}
|
|
|
|
public void set_mag(double along, double across, double through) {
|
|
if (mag_along == null) {
|
|
mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
|
|
mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
|
|
mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
|
|
mag_total = add_series(mag_total_name, AltosConvert.magnetic_field);
|
|
compass = add_series(compass_name, AltosConvert.orient);
|
|
}
|
|
mag_along.add(time(), along);
|
|
mag_across.add(time(), across);
|
|
mag_through.add(time(), through);
|
|
mag_total.add(time(), Math.sqrt(along * along + across * across + through *through));
|
|
compass.add(time(), Math.atan2(across, through) * 180 / Math.PI);
|
|
}
|
|
|
|
public void set_orient(double orient) {
|
|
if (orient_series == null)
|
|
orient_series = add_series(orient_name, AltosConvert.orient);
|
|
orient_series.add(time(), orient);
|
|
}
|
|
|
|
public static final String pyro_voltage_name = "Pyro Voltage";
|
|
|
|
public AltosTimeSeries pyro_voltage;
|
|
|
|
public void set_pyro_voltage(double volts) {
|
|
if (pyro_voltage == null)
|
|
pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
|
|
pyro_voltage.add(time(), volts);
|
|
}
|
|
|
|
private static String[] igniter_voltage_names;
|
|
|
|
public String igniter_voltage_name(int channel) {
|
|
if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
|
|
String[] new_igniter_voltage_names = new String[channel + 1];
|
|
int i = 0;
|
|
|
|
if (igniter_voltage_names != null) {
|
|
for (; i < igniter_voltage_names.length; i++)
|
|
new_igniter_voltage_names[i] = igniter_voltage_names[i];
|
|
}
|
|
for (; i < channel+1; i++)
|
|
new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
|
|
igniter_voltage_names = new_igniter_voltage_names;
|
|
}
|
|
return igniter_voltage_names[channel];
|
|
}
|
|
|
|
public AltosTimeSeries[] igniter_voltage;
|
|
|
|
public void set_igniter_voltage(double[] voltage) {
|
|
int channels = voltage.length;
|
|
if (igniter_voltage == null || igniter_voltage.length <= channels) {
|
|
AltosTimeSeries[] new_igniter_voltage = new AltosTimeSeries[channels];
|
|
int i = 0;
|
|
|
|
if (igniter_voltage != null) {
|
|
for (; i < igniter_voltage.length; i++)
|
|
new_igniter_voltage[i] = igniter_voltage[i];
|
|
}
|
|
for (; i < channels; i++)
|
|
new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
|
|
igniter_voltage = new_igniter_voltage;
|
|
}
|
|
for (int channel = 0; channel < voltage.length; channel++)
|
|
igniter_voltage[channel].add(time(), voltage[channel]);
|
|
}
|
|
|
|
public static final String pyro_fired_name = "Pyro Channel State";
|
|
|
|
public AltosTimeSeries pyro_fired_series;
|
|
|
|
int last_pyro_mask;
|
|
|
|
public void set_pyro_fired(int pyro_mask) {
|
|
if (pyro_fired_series == null)
|
|
pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
|
|
for (int channel = 0; channel < 32; channel++) {
|
|
if ((last_pyro_mask & (1 << channel)) == 0 &&
|
|
(pyro_mask & (1 << channel)) != 0) {
|
|
pyro_fired_series.add(time(), channel);
|
|
}
|
|
}
|
|
last_pyro_mask = pyro_mask;
|
|
}
|
|
|
|
public void set_companion(AltosCompanion companion) {
|
|
}
|
|
|
|
public static final String motor_pressure_name = "Motor Pressure";
|
|
|
|
public AltosTimeSeries motor_pressure_series;
|
|
|
|
public void set_motor_pressure(double motor_pressure) {
|
|
if (motor_pressure_series == null)
|
|
motor_pressure_series = add_series(motor_pressure_name, AltosConvert.pressure);
|
|
motor_pressure_series.add(time(), motor_pressure);
|
|
}
|
|
|
|
public void finish() {
|
|
compute_orient();
|
|
if (speed_series == null) {
|
|
speed_series = compute_speed();
|
|
if (speed_series != null)
|
|
add_series(speed_series);
|
|
}
|
|
if (accel_series == null) {
|
|
accel_series = compute_accel();
|
|
if (accel_series != null) {
|
|
add_series(accel_series);
|
|
accel_computed = true;
|
|
}
|
|
}
|
|
compute_height();
|
|
}
|
|
|
|
public AltosTimeSeries[] series() {
|
|
finish();
|
|
return series.toArray(new AltosTimeSeries[0]);
|
|
}
|
|
|
|
public AltosFlightSeries(AltosCalData cal_data) {
|
|
super(cal_data);
|
|
}
|
|
}
|