+ static public void provide_data(AltosDataListener listener, AltosLink link, int imu_type) throws InterruptedException {
+ try {
+ AltosIMU imu = new AltosIMU(link);
+ AltosCalData cal_data = listener.cal_data();
+
+ cal_data.set_imu_type(imu_type);
+
+ if (imu != null) {
+ if (imu.gyro_x != AltosLib.MISSING) {
+ cal_data.set_gyro_zero(0, 0, 0);
+ listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
+ cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
+ cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
+ }
+ listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
+ cal_data.accel_across(imu.accel_across(imu_type)),
+ cal_data.accel_through(imu.accel_through(imu_type)));
+ listener.set_accel(cal_data.accel_along(imu.accel_along(imu_type)),
+ cal_data.accel_across(imu.accel_across(imu_type)),
+ cal_data.accel_through(imu.accel_through(imu_type)));
+ if (is_primary_accel(imu_type)) {
+ int accel = imu.accel_along(imu_type);
+ if (!cal_data.adxl375_inverted)
+ accel = -accel;
+ if (cal_data.pad_orientation == 1)
+ accel = -accel;
+ listener.set_acceleration(cal_data.acceleration(accel));
+ }
+ if (imu.mag_x != AltosLib.MISSING) {
+ listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
+ cal_data.mag_across(imu.mag_across(imu_type)),
+ cal_data.mag_through(imu.mag_through(imu_type)));
+ }
+ }
+ } catch (TimeoutException te) {
+ }