2 * Copyright © 2011 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_13;
21 public class AltosTelemetryMegaSensor 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_x() { return int16(14); }
29 int accel_y() { return int16(16); }
30 int accel_z() { return int16(18); }
32 int gyro_x() { return int16(20); }
33 int gyro_y() { return int16(22); }
34 int gyro_z() { return int16(24); }
36 int mag_x() { return int16(26); }
37 int mag_z() { return int16(28); }
38 int mag_y() { return int16(30); }
42 public AltosTelemetryMegaSensor(int[] bytes, int imu_type) throws AltosCRCException {
45 case AltosIMU.imu_type_telemega_v1_v2:
46 case AltosIMU.imu_type_telemega_v3:
48 imu_type = AltosIMU.imu_type_telemega_v1_v2;
50 imu_type = AltosIMU.imu_type_telemega_v3;
55 this.imu_type = imu_type;
58 public void provide_data(AltosDataListener listener) {
59 super.provide_data(listener);
61 AltosCalData cal_data = listener.cal_data();
63 listener.set_acceleration(cal_data.acceleration(accel()));
64 listener.set_pressure(pres());
65 listener.set_temperature(temp() / 100.0);
67 listener.set_orient(orient());
68 cal_data.set_imu_type(imu_type);
70 /* XXX we have no calibration data for these values */
72 if (cal_data.accel_zero_along == AltosLib.MISSING)
73 cal_data.set_accel_zero(0, 0, 0);
74 if (cal_data.gyro_zero_roll == AltosLib.MISSING)
75 cal_data.set_gyro_zero(0, 0, 0);
77 int accel_along = accel_y();
78 int accel_across = accel_x();
79 int accel_through = accel_z();
80 int gyro_roll = gyro_y();
81 int gyro_pitch = gyro_x();
82 int gyro_yaw = gyro_z();
84 int mag_along = mag_y();
85 int mag_across = mag_x();
86 int mag_through = mag_z();
88 listener.set_accel(cal_data.accel_along(accel_along),
89 cal_data.accel_across(accel_across),
90 cal_data.accel_through(accel_through));
91 listener.set_gyro(cal_data.gyro_roll(gyro_roll),
92 cal_data.gyro_pitch(gyro_pitch),
93 cal_data.gyro_yaw(gyro_yaw));
94 listener.set_mag(cal_data.mag_along(mag_along),
95 cal_data.mag_across(mag_across),
96 cal_data.mag_through(mag_through));