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

[fw/altos] / altoslib / AltosTelemetryMegaSensor.java

diff --git a/altoslib/AltosTelemetryMegaSensor.java b/altoslib/AltosTelemetryMegaSensor.java
index 2dfc455aa5ca0d09adf7859d1581e6344ddfc405..4c64b55456b9ef8731593aafc2c2177ff0132aa2 100644 (file)
--- a/altoslib/AltosTelemetryMegaSensor.java
+++ b/altoslib/AltosTelemetryMegaSensor.java
@@ -16,64 +16,68 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_11;
+package org.altusmetrum.altoslib_12;
 
 public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
-       int     accel;
-       int     pres;
-       int     temp;
+       int     orient() { return int8(5); }
 
-       int     accel_x;
-       int     accel_y;
-       int     accel_z;
+       int     accel() { return int16(6); }
+       int     pres() { return int32(8); }
+       int     temp() { return int16(12); }
 
-       int     gyro_x;
-       int     gyro_y;
-       int     gyro_z;
+       int     accel_x() { return int16(14); }
+       int     accel_y() { return int16(16); }
+       int     accel_z() { return int16(18); }
 
-       int     mag_x;
-       int     mag_y;
-       int     mag_z;
+       int     gyro_x() { return int16(20); }
+       int     gyro_y() { return int16(22); }
+       int     gyro_z() { return int16(24); }
 
-       int     orient;
+       int     mag_x() { return int16(26); }
+       int     mag_z() { return int16(28); }
+       int     mag_y() { return int16(30); }
 
-       public AltosTelemetryMegaSensor(int[] bytes) {
+       public AltosTelemetryMegaSensor(int[] bytes) throws AltosCRCException {
                super(bytes);
+       }
 
-               orient        = int8(5);
-               accel         = int16(6);
-               pres          = int32(8);
-               temp          = int16(12);
+       public void provide_data(AltosDataListener listener) {
+               super.provide_data(listener);
 
-               accel_x       = int16(14);
-               accel_y       = int16(16);
-               accel_z       = int16(18);
+               AltosCalData cal_data = listener.cal_data();
 
-               gyro_x        = int16(20);
-               gyro_y        = int16(22);
-               gyro_z        = int16(24);
+               listener.set_acceleration(cal_data.acceleration(accel()));
+               listener.set_pressure(pres());
+               listener.set_temperature(temp() / 100.0);
 
-               mag_x         = int16(26);
-               mag_y         = int16(28);
-               mag_z         = int16(30);
-       }
+               listener.set_orient(orient());
 
-       public void update_state(AltosState state) {
-               super.update_state(state);
+               /* XXX we have no calibration data for these values */
 
-               state.set_accel(accel);
-               state.set_pressure(pres);
-               state.set_temperature(temp / 100.0);
+               if (cal_data.accel_zero_along == AltosLib.MISSING)
+                       cal_data.set_accel_zero(0, 0, 0);
+               if (cal_data.gyro_zero_roll == AltosLib.MISSING)
+                       cal_data.set_gyro_zero(0, 0, 0);
 
-               state.set_orient(orient);
+               int     accel_along = accel_y();
+               int     accel_across = accel_x();
+               int     accel_through = accel_z();
+               int     gyro_roll = gyro_y();
+               int     gyro_pitch = gyro_x();
+               int     gyro_yaw = gyro_z();
 
-               state.set_imu(new AltosIMU(accel_y,     /* along */
-                                          accel_x,     /* across */
-                                          accel_z,     /* through */
-                                          gyro_y,      /* along */
-                                          gyro_x,      /* across */
-                                          gyro_z));    /* through */
+               int     mag_along = mag_y();
+               int     mag_across = mag_x();
+               int     mag_through = mag_z();
 
-               state.set_mag(new AltosMag(mag_x, mag_y, mag_z));
+               listener.set_accel(cal_data.accel_along(accel_along),
+                                  cal_data.accel_across(accel_across),
+                                  cal_data.accel_through(accel_through));
+               listener.set_gyro(cal_data.gyro_roll(gyro_roll),
+                                 cal_data.gyro_pitch(gyro_pitch),
+                                 cal_data.gyro_yaw(gyro_yaw));
+               listener.set_mag(cal_data.mag_along(mag_along),
+                                cal_data.mag_across(mag_across),
+                                cal_data.mag_through(mag_through));
        }
 }