* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_11;
+package org.altusmetrum.altoslib_13;
public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
int orient() { return int8(5); }
int gyro_z() { return int16(24); }
int mag_x() { return int16(26); }
- int mag_y() { return int16(28); }
- int mag_z() { return int16(30); }
+ int mag_z() { return int16(28); }
+ int mag_y() { return int16(30); }
- public AltosTelemetryMegaSensor(int[] bytes) throws AltosCRCException {
+ int imu_type;
+
+ public AltosTelemetryMegaSensor(int[] bytes, int imu_type) throws AltosCRCException {
super(bytes);
+ switch (imu_type) {
+ case AltosIMU.imu_type_telemega_v1_v2:
+ case AltosIMU.imu_type_telemega_v3:
+ if (serial() < 3000)
+ imu_type = AltosIMU.imu_type_telemega_v1_v2;
+ else
+ imu_type = AltosIMU.imu_type_telemega_v3;
+ break;
+ default:
+ break;
+ }
+ this.imu_type = imu_type;
}
- public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
- super.provide_data(listener, cal_data);
+ public void provide_data(AltosDataListener listener) {
+ super.provide_data(listener);
+
+ AltosCalData cal_data = listener.cal_data();
listener.set_acceleration(cal_data.acceleration(accel()));
listener.set_pressure(pres());
listener.set_temperature(temp() / 100.0);
listener.set_orient(orient());
+ cal_data.set_imu_type(imu_type);
/* XXX we have no calibration data for these values */
int gyro_pitch = gyro_x();
int gyro_yaw = gyro_z();
- int mag_along = mag_x();
- int mag_across = mag_y();
+ int mag_along = mag_y();
+ int mag_across = mag_x();
int mag_through = mag_z();
listener.set_accel(cal_data.accel_along(accel_along),