X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosIMU.java;fp=altoslib%2FAltosIMU.java;h=dee28a92319eb8532d5d2556180ae51fa827509d;hp=f6cadf1d13a0f4276a15156e9f99dc9535c7cfa4;hb=c8dbcaf69cd538a31ab6e2b568237ae7c8656a9a;hpb=0cbfa444a9f9159cb509bb47ca5590fc1d709f64

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index f6cadf1d..dee28a92 100644
--- 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 {