1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
|
/*
* 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; either version 2 of the License, or
* (at your option) any later version.
*
* 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_14;
import java.io.*;
public class AltosFlightStats {
public double max_height;
public double max_gps_height;
public double max_speed;
public double max_acceleration;
public double[] state_speed = new double[AltosLib.ao_flight_invalid + 1];
public double[] state_enter_speed = new double[AltosLib.ao_flight_invalid + 1];
public double[] state_enter_height = new double[AltosLib.ao_flight_invalid + 1];
public double[] state_enter_gps_height = new double[AltosLib.ao_flight_invalid + 1];
public double[] state_accel = new double[AltosLib.ao_flight_invalid + 1];
public double[] state_time = new double[AltosLib.ao_flight_invalid + 1];
public String product;
public String firmware_version;
public int serial;
public int flight;
public int year, month, day;
public int hour, minute, second;
public double boost_time;
public double landed_time;
public double lat, lon;
public double pad_lat, pad_lon;
public boolean has_flight_data;
public boolean has_gps;
public boolean has_gps_sats;
public boolean has_gps_detail;
public boolean has_flight_adc;
public boolean has_battery;
public boolean has_rssi;
public boolean has_imu;
public boolean has_mag;
public boolean has_orient;
public int num_igniter;
double landed_time(AltosFlightSeries series) {
double landed_state_time = AltosLib.MISSING;
double prev_state_time = AltosLib.MISSING;
if (series.state_series != null) {
for (AltosTimeValue state : series.state_series) {
if (state.value == AltosLib.ao_flight_landed) {
landed_state_time = state.time;
break;
} else {
prev_state_time = state.time;
}
}
}
if (landed_state_time == AltosLib.MISSING && series.height_series != null)
landed_state_time = series.height_series.get(series.height_series.size()-1).time;
double landed_height = AltosLib.MISSING;
if (series.height_series != null) {
for (AltosTimeValue height : series.height_series) {
landed_height = height.value;
if (height.time >= landed_state_time)
break;
}
}
if (landed_height == AltosLib.MISSING)
return AltosLib.MISSING;
boolean above = true;
double landed_time = AltosLib.MISSING;
if (series.height_series != null) {
for (AltosTimeValue height : series.height_series) {
if (height.value > landed_height + 10) {
above = true;
} else {
if (above && Math.abs(height.value - landed_height) < 2) {
above = false;
landed_time = height.time;
}
}
}
}
if (landed_time == AltosLib.MISSING || (prev_state_time != AltosLib.MISSING && landed_time < prev_state_time))
landed_time = landed_state_time;
return landed_time;
}
double boost_time(AltosFlightSeries series) {
double boost_time = AltosLib.MISSING;
double boost_state_time = AltosLib.MISSING;
if (series.state_series != null) {
for (AltosTimeValue state : series.state_series) {
if (state.value >= AltosLib.ao_flight_boost && state.value <= AltosLib.ao_flight_landed) {
boost_state_time = state.time;
break;
}
}
}
if (series.accel_series != null) {
for (AltosTimeValue accel : series.accel_series) {
if (accel.value < 1)
boost_time = accel.time;
if (boost_state_time != AltosLib.MISSING && accel.time >= boost_state_time)
break;
}
}
if (boost_time == AltosLib.MISSING)
boost_time = boost_state_time;
return boost_time;
}
private void add_times(AltosFlightSeries series, int state, double start_time, double end_time) {
double delta_time = end_time - start_time;
if (0 <= state && state <= AltosLib.ao_flight_invalid && delta_time > 0) {
if (state_enter_speed[state] == AltosLib.MISSING)
state_enter_speed[state] = series.speed_series.value(start_time);
if (state_enter_height[state] == AltosLib.MISSING)
state_enter_height[state] = series.height_series.value(start_time);
if (state_enter_gps_height[state] == AltosLib.MISSING)
if (series.gps_height != null)
state_enter_gps_height[state] = series.gps_height.value(start_time);
speeds[state].value += series.speed_series.average(start_time, end_time) * delta_time;
speeds[state].time += delta_time;
accels[state].value += series.accel_series.average(start_time, end_time) * delta_time;
accels[state].time += delta_time;
state_time[state] += delta_time;
if (state == AltosLib.ao_flight_boost) {
AltosTimeValue tv_speed = series.speed_series.max(start_time, end_time);
if (tv_speed != null && (max_speed == AltosLib.MISSING || tv_speed.value > max_speed))
max_speed = tv_speed.value;
AltosTimeValue tv_accel = series.accel_series.max(start_time, end_time);
if (tv_accel != null && (max_acceleration == AltosLib.MISSING || tv_accel.value > max_acceleration))
max_acceleration = tv_accel.value;
}
}
}
AltosTimeValue[] speeds = new AltosTimeValue[AltosLib.ao_flight_invalid + 1];
AltosTimeValue[] accels = new AltosTimeValue[AltosLib.ao_flight_invalid + 1];
public AltosFlightStats(AltosFlightSeries series) {
AltosCalData cal_data = series.cal_data();
series.finish();
boost_time = boost_time(series);
landed_time = landed_time(series);
if (series.state_series != null){
boolean fixed_boost = false;
boolean fixed_landed = false;
for (AltosTimeValue state : series.state_series) {
if ((int) state.value == AltosLib.ao_flight_boost)
if (boost_time != AltosLib.MISSING && !fixed_boost) {
state.time = boost_time;
fixed_boost = true;
}
if ((int) state.value == AltosLib.ao_flight_landed)
if (landed_time != AltosLib.MISSING && !fixed_landed) {
state.time = landed_time;
fixed_landed = true;
}
}
}
year = month = day = AltosLib.MISSING;
hour = minute = second = AltosLib.MISSING;
serial = flight = AltosLib.MISSING;
lat = lon = AltosLib.MISSING;
has_flight_data = false;
has_gps = false;
has_gps_sats = false;
has_flight_adc = false;
has_battery = false;
has_rssi = false;
has_imu = false;
has_mag = false;
has_orient = false;
for (int s = 0; s < AltosLib.ao_flight_invalid + 1; s++) {
state_speed[s] = AltosLib.MISSING;
state_enter_speed[s] = AltosLib.MISSING;
state_accel[s] = AltosLib.MISSING;
state_time[s] = 0;
speeds[s] = new AltosTimeValue(0, 0);
accels[s] = new AltosTimeValue(0, 0);
}
max_speed = AltosLib.MISSING;
max_acceleration = AltosLib.MISSING;
if (series.state_series != null) {
AltosTimeValue prev = null;
for (AltosTimeValue state : series.state_series) {
if (prev != null)
add_times(series, (int) prev.value, prev.time, state.time);
prev = state;
}
if (prev != null) {
AltosTimeValue last_accel = series.accel_series.last();
if (last_accel != null)
add_times(series, (int) prev.value, prev.time, last_accel.time);
}
}
for (int s = 0; s <= AltosLib.ao_flight_invalid; s++) {
if (speeds[s].time > 0)
state_speed[s] = speeds[s].value / speeds[s].time;
if (accels[s].time > 0)
state_accel[s] = accels[s].value / accels[s].time;
}
product = cal_data.product;
firmware_version = cal_data.firmware_version;
serial = cal_data.serial;
flight = cal_data.flight;
has_battery = series.battery_voltage_series != null;
has_flight_adc = series.main_voltage_series != null;
has_rssi = series.rssi_series != null;
has_flight_data = series.pressure_series != null;
AltosGPS gps = series.cal_data().gps_pad;
if (gps != null) {
year = gps.year;
month = gps.month;
day = gps.day;
hour = gps.hour;
minute = gps.minute;
second = gps.second;
has_gps = true;
lat = pad_lat = gps.lat;
lon = pad_lon = gps.lon;
if (series.gps_series != null) {
for (AltosGPSTimeValue gtv : series.gps_series) {
gps = gtv.gps;
if (gps.locked && gps.nsat >= 4) {
lat = gps.lat;
lon = gps.lon;
}
}
}
}
max_height = series.max_height;
if (max_height == AltosLib.MISSING && series.height_series != null)
max_height = series.height_series.max().value;
max_gps_height = AltosLib.MISSING;
if (series.gps_height != null) {
AltosTimeValue tv = series.gps_height.max();
if (tv != null)
max_gps_height = tv.value;
}
}
}
|
