2 * Copyright © 2012 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
18 package org.altusmetrum.altoslib_4;
20 import java.util.concurrent.*;
22 public class AltosIMU implements Cloneable {
23 public double accel_x;
24 public double accel_y;
25 public double accel_z;
32 * XXX use ground measurements to adjust values
34 public double ground_accel_x;
35 public double ground_accel_y;
36 public double ground_accel_z;
38 public double ground_gyro_x;
39 public double ground_gyro_y;
40 public double ground_gyro_z;
43 public static int counts_per_g = 2048;
45 public static double convert_accel(int counts) {
46 return (double) counts / (double) counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
49 public static double counts_per_degsec = 16.4;
51 public static double convert_gyro(int counts) {
52 return (double) counts / counts_per_degsec;
55 public boolean parse_string(String line) {
56 if (!line.startsWith("Accel:"))
59 String[] items = line.split("\\s+");
61 if (items.length >= 8) {
62 accel_x = convert_accel(Integer.parseInt(items[1]));
63 accel_y = convert_accel(Integer.parseInt(items[2]));
64 accel_z = convert_accel(Integer.parseInt(items[3]));
65 gyro_x = convert_gyro(Integer.parseInt(items[5]));
66 gyro_y = convert_gyro(Integer.parseInt(items[6]));
67 gyro_z = convert_gyro(Integer.parseInt(items[7]));
72 public AltosIMU clone() {
73 AltosIMU n = new AltosIMU();
85 static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
87 AltosIMU imu = new AltosIMU(link);
91 } catch (TimeoutException te) {
96 accel_x = AltosLib.MISSING;
97 accel_y = AltosLib.MISSING;
98 accel_z = AltosLib.MISSING;
100 gyro_x = AltosLib.MISSING;
101 gyro_y = AltosLib.MISSING;
102 gyro_z = AltosLib.MISSING;
105 public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
109 String line = link.get_reply_no_dialog(5000);
111 throw new TimeoutException();
113 if (parse_string(line))