public int boost_tick;
class AltosValue {
- private double value;
- private double prev_value;
+ double value;
+ double prev_value;
private double max_value;
private double set_time;
private double prev_set_time;
}
class AltosCValue {
- AltosValue measured;
- AltosValue computed;
+
+ class AltosIValue extends AltosValue {
+ boolean can_max() {
+ return c_can_max();
+ }
+ };
+
+ public AltosIValue measured;
+ public AltosIValue computed;
+
+ boolean can_max() { return true; }
+
+ boolean c_can_max() { return can_max(); }
double value() {
double v = measured.value();
}
AltosCValue() {
- measured = new AltosValue();
- computed = new AltosValue();
+ measured = new AltosIValue();
+ computed = new AltosIValue();
}
}
return acceleration.max();
}
- public AltosValue orient;
+ public AltosCValue orient;
public void set_orient(double new_orient) {
- orient.set(new_orient, time);
+ orient.set_measured(new_orient, time);
}
public double orient() {
pressure = new AltosPressure();
speed = new AltosSpeed();
acceleration = new AltosAccel();
- orient = new AltosValue();
+ orient = new AltosCValue();
temperature = AltosLib.MISSING;
battery_voltage = AltosLib.MISSING;
gps_pending = false;
imu = null;
+ last_imu_time = AltosLib.MISSING;
+ rotation = null;
+ ground_rotation = null;
+
mag = null;
+ accel_zero_along = AltosLib.MISSING;
+ accel_zero_across = AltosLib.MISSING;
+ accel_zero_through = AltosLib.MISSING;
+
+ accel_ground_along = AltosLib.MISSING;
+ accel_ground_across = AltosLib.MISSING;
+ accel_ground_through = AltosLib.MISSING;
+
+ pad_orientation = AltosLib.MISSING;
+
+ gyro_zero_roll = AltosLib.MISSING;
+ gyro_zero_pitch = AltosLib.MISSING;
+ gyro_zero_yaw = AltosLib.MISSING;
set_npad(0);
ngps = 0;
imu = old.imu.clone();
else
imu = null;
+ last_imu_time = old.last_imu_time;
+
+ if (old.rotation != null)
+ rotation = new AltosRotation (old.rotation);
+
+ if (old.ground_rotation != null) {
+ ground_rotation = new AltosRotation(old.ground_rotation);
+ }
+
+ accel_zero_along = old.accel_zero_along;
+ accel_zero_across = old.accel_zero_across;
+ accel_zero_through = old.accel_zero_through;
+
+ accel_ground_along = old.accel_ground_along;
+ accel_ground_across = old.accel_ground_across;
+ accel_ground_through = old.accel_ground_through;
+ pad_orientation = old.pad_orientation;
+
+ gyro_zero_roll = old.gyro_zero_roll;
+ gyro_zero_pitch = old.gyro_zero_pitch;
+ gyro_zero_yaw = old.gyro_zero_yaw;
if (old.mag != null)
mag = old.mag.clone();
}
}
+
+ public double accel_zero_along;
+ public double accel_zero_across;
+ public double accel_zero_through;
+
+ public AltosRotation rotation;
+ public AltosRotation ground_rotation;
+
+ public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
+ if (zero_along != AltosLib.MISSING) {
+ accel_zero_along = zero_along;
+ accel_zero_across = zero_across;
+ accel_zero_through = zero_through;
+ }
+ }
+
+ 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) {
+ rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - accel_zero_across),
+ AltosIMU.convert_accel(accel_ground_through - accel_zero_through),
+ AltosIMU.convert_accel(accel_ground_along - accel_zero_along),
+ pad_orientation);
+ ground_rotation = rotation;
+ orient.set_computed(rotation.tilt(), time);
+ }
+ }
+
+ public void set_accel_ground(double ground_along, double ground_across, double ground_through) {
+ accel_ground_along = ground_along;
+ accel_ground_across = ground_across;
+ accel_ground_through = ground_through;
+ update_pad_rotation();
+ }
+
+ public void set_pad_orientation(int pad_orientation) {
+ this.pad_orientation = pad_orientation;
+ update_pad_rotation();
+ }
+
+ public double gyro_zero_roll;
+ public double gyro_zero_pitch;
+ public double gyro_zero_yaw;
+
+ public void set_gyro_zero(double roll, double pitch, double yaw) {
+ if (roll != AltosLib.MISSING) {
+ gyro_zero_roll = roll;
+ gyro_zero_pitch = pitch;
+ gyro_zero_yaw = yaw;
+ }
+ }
+
+ 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());
+
+ if (t > 0 & pitch != AltosLib.MISSING && rotation != null) {
+ rotation.rotate(t, pitch, yaw, roll);
+ orient.set_computed(rotation.tilt(), time);
+ }
+ }
+ last_imu_time = time;
+ }
+
public void set_imu(AltosIMU imu) {
if (imu != null)
imu = imu.clone();
this.imu = imu;
+ update_orient();
+ }
+
+ private double gyro_zero_overflow(double first) {
+ double v = first / 128.0;
+ if (v < 0)
+ v = Math.ceil(v);
+ else
+ v = Math.floor(v);
+ return v * 128.0;
+ }
+
+ public void check_imu_wrap(AltosIMU imu) {
+ if (this.imu == null) {
+ gyro_zero_roll += gyro_zero_overflow(imu.gyro_roll);
+ gyro_zero_pitch += gyro_zero_overflow(imu.gyro_pitch);
+ gyro_zero_yaw += gyro_zero_overflow(imu.gyro_yaw);
+ }
+ }
+
+ public double accel_along() {
+ if (imu != null && accel_zero_along != AltosLib.MISSING)
+ return AltosIMU.convert_accel(imu.accel_along - accel_zero_along);
+ return AltosLib.MISSING;
+ }
+
+ public double accel_across() {
+ if (imu != null && accel_zero_across != AltosLib.MISSING)
+ return AltosIMU.convert_accel(imu.accel_across - accel_zero_across);
+ return AltosLib.MISSING;
+ }
+
+ public double accel_through() {
+ if (imu != null && accel_zero_through != AltosLib.MISSING)
+ return AltosIMU.convert_accel(imu.accel_through - accel_zero_through);
+ return AltosLib.MISSING;
+ }
+
+ public double gyro_roll() {
+ if (imu != null && gyro_zero_roll != AltosLib.MISSING) {
+ return AltosIMU.convert_gyro(imu.gyro_roll - gyro_zero_roll);
+ }
+ return AltosLib.MISSING;
+ }
+
+ public double gyro_pitch() {
+ if (imu != null && gyro_zero_pitch != AltosLib.MISSING) {
+ return AltosIMU.convert_gyro(imu.gyro_pitch - gyro_zero_pitch);
+ }
+ return AltosLib.MISSING;
+ }
+
+ public double gyro_yaw() {
+ if (imu != null && gyro_zero_yaw != AltosLib.MISSING) {
+ return AltosIMU.convert_gyro(imu.gyro_yaw - gyro_zero_yaw);
+ }
+ return AltosLib.MISSING;
}
public void set_mag(AltosMag mag) {
this.mag = mag.clone();
}
+ public double mag_along() {
+ if (mag != null)
+ return AltosMag.convert_gauss(mag.along);
+ return AltosLib.MISSING;
+ }
+
+ public double mag_across() {
+ if (mag != null)
+ return AltosMag.convert_gauss(mag.across);
+ return AltosLib.MISSING;
+ }
+
+ public double mag_through() {
+ if (mag != null)
+ return AltosMag.convert_gauss(mag.through);
+ return AltosLib.MISSING;
+ }
+
public AltosMs5607 make_baro() {
if (baro == null)
baro = new AltosMs5607();
projects / fw / altos / blobdiff