X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosTelemetryMegaSensor.java;fp=altoslib%2FAltosTelemetryMegaSensor.java;h=4c64b55456b9ef8731593aafc2c2177ff0132aa2;hp=2dfc455aa5ca0d09adf7859d1581e6344ddfc405;hb=c8dbcaf69cd538a31ab6e2b568237ae7c8656a9a;hpb=0cbfa444a9f9159cb509bb47ca5590fc1d709f64

diff --git a/altoslib/AltosTelemetryMegaSensor.java b/altoslib/AltosTelemetryMegaSensor.java
index 2dfc455a..4c64b554 100644
--- 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));
 	}
 }