2 * Copyright © 2021 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; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
19 package org.altusmetrum.altoslib_14;
21 public class AltosTelemetryMegaNorm extends AltosTelemetryStandard {
22 int orient() { return int8(5); }
24 int accel() { return int16(6); }
25 int pres() { return int32(8); }
26 int temp() { return int16(12); }
28 int accel_along() { return int16(14); }
29 int accel_across() { return int16(16); }
30 int accel_through() { return int16(18); }
32 int gyro_roll() { return int16(20); }
33 int gyro_pitch() { return int16(22); }
34 int gyro_yaw() { return int16(24); }
36 int mag_along() { return int16(26); }
37 int mag_across() { return int16(28); }
38 int mag_through() { return int16(30); }
40 int imu_model, mag_model;
42 public AltosTelemetryMegaNorm(int[] bytes, int imu_model, int mag_model) throws AltosCRCException {
44 this.imu_model = imu_model;
45 this.mag_model = mag_model;
48 public void provide_data(AltosDataListener listener) {
49 super.provide_data(listener);
51 AltosCalData cal_data = listener.cal_data();
53 listener.set_acceleration(cal_data.acceleration(accel()));
54 listener.set_pressure(pres());
55 listener.set_temperature(temp() / 100.0);
57 listener.set_orient(orient());
58 cal_data.set_imu_model(imu_model);
59 cal_data.set_mag_model(mag_model);
61 /* XXX we have no calibration data for these values */
63 if (cal_data.accel_zero_along == AltosLib.MISSING)
64 cal_data.set_accel_zero(0, 0, 0);
65 if (cal_data.gyro_zero_roll == AltosLib.MISSING)
66 cal_data.set_gyro_zero(0, 0, 0);
68 int accel_along = accel_along();
69 int accel_across = accel_across();
70 int accel_through = accel_through();
72 int gyro_roll = gyro_roll();
73 int gyro_pitch = gyro_pitch();
74 int gyro_yaw = gyro_yaw();
76 int mag_along = mag_along();
77 int mag_across = mag_across();
78 int mag_through = mag_through();
80 listener.set_accel(cal_data.accel_along(accel_along),
81 cal_data.accel_across(accel_across),
82 cal_data.accel_through(accel_through));
83 listener.set_gyro(cal_data.gyro_roll(gyro_roll),
84 cal_data.gyro_pitch(gyro_pitch),
85 cal_data.gyro_yaw(gyro_yaw));
86 listener.set_mag(cal_data.mag_along(mag_along),
87 cal_data.mag_across(mag_across),
88 cal_data.mag_through(mag_through));