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
|
/*
* Copyright © 2014 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_5;
import java.io.*;
import java.util.*;
import java.text.*;
public class AltosEepromGPS extends AltosEeprom {
public static final int record_length = 32;
public static final int max_sat = 12;
public int record_length() { return record_length; }
/* AO_LOG_FLIGHT elements */
public int flight() { return data16(0); }
public int start_altitude() { return data16(2); }
public int start_latitude() { return data32(4); }
public int start_longitude() { return data32(8); }
/* AO_LOG_GPS_TIME elements */
public int latitude() { return data32(0); }
public int longitude() { return data32(4); }
public int altitude_low() { return data16(8); }
public int hour() { return data8(10); }
public int minute() { return data8(11); }
public int second() { return data8(12); }
public int flags() { return data8(13); }
public int year() { return data8(14); }
public int month() { return data8(15); }
public int day() { return data8(16); }
public int course() { return data8(17); }
public int ground_speed() { return data16(18); }
public int climb_rate() { return data16(20); }
public int pdop() { return data8(22); }
public int hdop() { return data8(23); }
public int vdop() { return data8(24); }
public int mode() { return data8(25); }
public int altitude_high() { return data16(26); }
public boolean has_seconds() { return cmd == AltosLib.AO_LOG_GPS_TIME; }
public int seconds() {
switch (cmd) {
case AltosLib.AO_LOG_GPS_TIME:
return second() + 60 * (minute() + 60 * (hour() + 24 * (day() + 31 * month())));
default:
return 0;
}
}
public AltosEepromGPS (AltosEepromChunk chunk, int start) throws ParseException {
parse_chunk(chunk, start);
}
public void update_state(AltosState state) {
super.update_state(state);
AltosGPS gps;
/* Flush any pending GPS changes */
if (state.gps_pending) {
switch (cmd) {
case AltosLib.AO_LOG_GPS_LAT:
case AltosLib.AO_LOG_GPS_LON:
case AltosLib.AO_LOG_GPS_ALT:
case AltosLib.AO_LOG_GPS_SAT:
case AltosLib.AO_LOG_GPS_DATE:
break;
default:
state.set_temp_gps();
break;
}
}
switch (cmd) {
case AltosLib.AO_LOG_FLIGHT:
if (state.flight == AltosLib.MISSING) {
state.set_boost_tick(tick);
state.set_flight(flight());
}
/* no place to log start lat/lon yet */
break;
case AltosLib.AO_LOG_GPS_TIME:
state.set_tick(tick);
gps = state.make_temp_gps(false);
gps.lat = latitude() / 1e7;
gps.lon = longitude() / 1e7;
if (state.altitude_32())
gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
else
gps.alt = altitude_low();
gps.hour = hour();
gps.minute = minute();
gps.second = second();
int flags = flags();
gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
AltosLib.AO_GPS_NUM_SAT_SHIFT;
gps.year = 2000 + year();
gps.month = month();
gps.day = day();
gps.ground_speed = ground_speed() * 1.0e-2;
gps.course = course() * 2;
gps.climb_rate = climb_rate() * 1.0e-2;
if (state.compare_version("1.4.9") >= 0) {
gps.pdop = pdop() / 10.0;
gps.hdop = hdop() / 10.0;
gps.vdop = vdop() / 10.0;
} else {
gps.pdop = pdop() / 100.0;
if (gps.pdop < 0.8)
gps.pdop += 2.56;
gps.hdop = hdop() / 100.0;
if (gps.hdop < 0.8)
gps.hdop += 2.56;
gps.vdop = vdop() / 100.0;
if (gps.vdop < 0.8)
gps.vdop += 2.56;
}
break;
}
}
public AltosEepromGPS (String line) {
parse_string(line);
}
static public LinkedList<AltosEeprom> read(FileInputStream input) {
LinkedList<AltosEeprom> tgpss = new LinkedList<AltosEeprom>();
for (;;) {
try {
String line = AltosLib.gets(input);
if (line == null)
break;
try {
AltosEepromGPS tgps = new AltosEepromGPS(line);
if (tgps.cmd != AltosLib.AO_LOG_INVALID)
tgpss.add(tgps);
} catch (Exception e) {
System.out.printf ("exception\n");
}
} catch (IOException ie) {
break;
}
}
return tgpss;
}
}
|