X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosState.java;h=036c1652ed31c0c157f9c5e6b80cf3450fc1e44f;hb=03ec3e4c2247b6520c728b34805ad500be547a25;hp=e5a0541e18af3d73ede2e596ae2c7d9c31cf814a;hpb=b6b5c64f93fa56bcb22ea1c4279e4f754e6e6f1c;p=fw%2Faltos

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index e5a0541e..036c1652 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -22,8 +22,6 @@
 
 package org.altusmetrum.altoslib_11;
 
-import java.io.*;
-
 public class AltosState extends AltosDataListener {
 
 	public static final int set_position = 1;
@@ -751,7 +749,6 @@ public class AltosState extends AltosDataListener {
 		imu = null;
 		last_imu_time = AltosLib.MISSING;
 		rotation = null;
-		ground_rotation = null;
 
 		mag = null;
 
@@ -759,8 +756,6 @@ public class AltosState extends AltosDataListener {
 		accel_ground_across = AltosLib.MISSING;
 		accel_ground_through = AltosLib.MISSING;
 
-		pad_orientation = AltosLib.MISSING;
-
 		set_npad(0);
 		ngps = 0;
 
@@ -901,19 +896,15 @@ public class AltosState extends AltosDataListener {
 
 
 	public AltosRotation	rotation;
-	public AltosRotation	ground_rotation;
-
-	public int pad_orientation;
 
 	public double	accel_ground_along, accel_ground_across, accel_ground_through;
 
 	void update_pad_rotation() {
-		if (pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
+		if (cal_data.pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
 			rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data.accel_zero_across),
 						     AltosIMU.convert_accel(accel_ground_through - cal_data.accel_zero_through),
 						     AltosIMU.convert_accel(accel_ground_along - cal_data.accel_zero_along),
-						     pad_orientation);
-			ground_rotation = rotation;
+						     cal_data.pad_orientation);
 			orient.set_computed(rotation.tilt(), time);
 		}
 	}
@@ -925,28 +916,17 @@ public class AltosState extends AltosDataListener {
 		update_pad_rotation();
 	}
 
-	public void set_pad_orientation(int pad_orientation) {
-		this.pad_orientation = pad_orientation;
-		update_pad_rotation();
-	}
-
 	public double	last_imu_time;
 
-	private double radians(double degrees) {
-		if (degrees == AltosLib.MISSING)
-			return AltosLib.MISSING;
-		return degrees * Math.PI / 180.0;
-	}
-
 	private void update_orient() {
 		if (last_imu_time != AltosLib.MISSING) {
 			double	t = time - last_imu_time;
 
-			double	pitch = radians(gyro_pitch());
-			double	yaw = radians(gyro_yaw());
-			double	roll = radians(gyro_roll());
+			double	pitch = AltosConvert.degrees_to_radians(gyro_pitch());
+			double	yaw = AltosConvert.degrees_to_radians(gyro_yaw());
+			double	roll = AltosConvert.degrees_to_radians(gyro_roll());
 
-			if (t > 0 & pitch != AltosLib.MISSING && rotation != null) {
+			if (t > 0 && pitch != AltosLib.MISSING && rotation != null) {
 				rotation.rotate(t, pitch, yaw, roll);
 				orient.set_computed(rotation.tilt(), time);
 			}
@@ -958,8 +938,8 @@ public class AltosState extends AltosDataListener {
 
 	public void set_gyro(double roll, double pitch, double yaw) {
 		gyro_roll = roll;
-		gyro_pitch = roll;
-		gyro_roll = roll;
+		gyro_pitch = pitch;
+		gyro_roll = yaw;
 		update_orient();
 	}
 
@@ -1075,11 +1055,14 @@ public class AltosState extends AltosDataListener {
 	}
 
 	public AltosState() {
+		Thread.dumpStack();
 		init();
 	}
 
 	public AltosState (AltosCalData cal_data) {
 		super(cal_data);
+		if (cal_data == null)
+			Thread.dumpStack();
 		init();
 	}
 }