Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index f6cadf1d13a0f4276a15156e9f99dc9535c7cfa4..dee28a92319eb8532d5d2556180ae51fa827509d 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -16,30 +16,32 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_11;
+package org.altusmetrum.altoslib_12;
 
 import java.util.concurrent.*;
 import java.io.*;
 
 public class AltosIMU implements Cloneable {
-       public int              accel_along;
-       public int              accel_across;
-       public int              accel_through;
+       public int              accel_x;
+       public int              accel_y;
+       public int              accel_z;
 
-       public int              gyro_roll;
-       public int              gyro_pitch;
-       public int              gyro_yaw;
+       public int              gyro_x;
+       public int              gyro_y;
+       public int              gyro_z;
 
        public static final double      counts_per_g = 2048.0;
 
        public static double convert_accel(double counts) {
-               return counts / counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
+               return counts / counts_per_g * AltosConvert.gravity;
        }
 
-       public static final double      counts_per_degsec = 16.4;
+       /* In radians */
+       public static final double      GYRO_FULLSCALE_DEGREES = 2000.0;
+       public static final double      GYRO_COUNTS = 32767.0;
 
-       public static double convert_gyro(double counts) {
-               return counts / counts_per_degsec;
+       public static double gyro_degrees_per_second(double counts, double cal) {
+               return (counts - cal) * GYRO_FULLSCALE_DEGREES / GYRO_COUNTS;
        }
 
        public boolean parse_string(String line) {
@@ -49,12 +51,12 @@ public class AltosIMU implements Cloneable {
                String[] items = line.split("\\s+");
 
                if (items.length >= 8) {
-                       accel_along = Integer.parseInt(items[1]);
-                       accel_across = Integer.parseInt(items[2]);
-                       accel_through = Integer.parseInt(items[3]);
-                       gyro_roll = Integer.parseInt(items[5]);
-                       gyro_pitch = Integer.parseInt(items[6]);
-                       gyro_yaw = Integer.parseInt(items[7]);
+                       accel_x = Integer.parseInt(items[1]);
+                       accel_y = Integer.parseInt(items[2]);
+                       accel_z = Integer.parseInt(items[3]);
+                       gyro_x = Integer.parseInt(items[5]);
+                       gyro_y = Integer.parseInt(items[6]);
+                       gyro_z = Integer.parseInt(items[7]);
                }
                return true;
        }
@@ -62,46 +64,41 @@ public class AltosIMU implements Cloneable {
        public AltosIMU clone() {
                AltosIMU        n = new AltosIMU();
 
-               n.accel_along = accel_along;
-               n.accel_across = accel_across;
-               n.accel_through = accel_through;
+               n.accel_x = accel_x;
+               n.accel_y = accel_y;
+               n.accel_z = accel_z;
 
-               n.gyro_roll = gyro_roll;
-               n.gyro_pitch = gyro_pitch;
-               n.gyro_yaw = gyro_yaw;
+               n.gyro_x = gyro_x;
+               n.gyro_y = gyro_y;
+               n.gyro_z = gyro_z;
                return n;
        }
 
-       static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
+       static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException {
                try {
                        AltosIMU        imu = new AltosIMU(link);
-
-                       if (imu != null)
-                               state.set_imu(imu);
+                       AltosCalData    cal_data = listener.cal_data();
+
+                       if (imu != null) {
+                               listener.set_gyro(cal_data.gyro_roll(imu.gyro_y),
+                                                 cal_data.gyro_pitch(imu.gyro_x),
+                                                 cal_data.gyro_yaw(imu.gyro_z));
+                               listener.set_accel_ground(cal_data.accel_along(imu.accel_y),
+                                                         cal_data.accel_across(imu.accel_x),
+                                                         cal_data.accel_through(imu.accel_z));
+                       }
                } catch (TimeoutException te) {
                }
        }
 
        public AltosIMU() {
-               accel_along = AltosLib.MISSING;
-               accel_across = AltosLib.MISSING;
-               accel_through = AltosLib.MISSING;
-
-               gyro_roll = AltosLib.MISSING;
-               gyro_pitch = AltosLib.MISSING;
-               gyro_yaw = AltosLib.MISSING;
-       }
-
-       public AltosIMU(int accel_along, int accel_across, int accel_through,
-                       int gyro_roll, int gyro_pitch, int gyro_yaw) {
-
-               this.accel_along = accel_along;
-               this.accel_across = accel_across;
-               this.accel_through = accel_through;
+               accel_x = AltosLib.MISSING;
+               accel_y = AltosLib.MISSING;
+               accel_z = AltosLib.MISSING;
 
-               this.gyro_roll = gyro_roll;
-               this.gyro_pitch = gyro_pitch;
-               this.gyro_yaw = gyro_yaw;
+               gyro_x = AltosLib.MISSING;
+               gyro_y = AltosLib.MISSING;
+               gyro_z = AltosLib.MISSING;
        }
 
        public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {