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[fw/altos] / altoslib / AltosTelemetryMegaSensor.java
1 /*
2  * Copyright © 2011 Keith Packard <keithp@keithp.com>
3  *
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.
7  *
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.
12  *
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.
16  */
17
18 package org.altusmetrum.altoslib_5;
19
20 public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
21         int     accel;
22         int     pres;
23         int     temp;
24
25         int     accel_x;
26         int     accel_y;
27         int     accel_z;
28
29         int     gyro_x;
30         int     gyro_y;
31         int     gyro_z;
32
33         int     mag_x;
34         int     mag_y;
35         int     mag_z;
36
37         int     orient;
38
39         public AltosTelemetryMegaSensor(int[] bytes) {
40                 super(bytes);
41
42                 orient        = int8(5);
43                 accel         = int16(6);
44                 pres          = int32(8);
45                 temp          = int16(12);
46
47                 accel_x       = int16(14);
48                 accel_y       = int16(16);
49                 accel_z       = int16(18);
50
51                 gyro_x        = int16(20);
52                 gyro_y        = int16(22);
53                 gyro_z        = int16(24);
54
55                 mag_x         = int16(26);
56                 mag_y         = int16(28);
57                 mag_z         = int16(30);
58         }
59
60         public void update_state(AltosState state) {
61                 super.update_state(state);
62
63                 state.set_accel(accel);
64                 state.set_pressure(pres);
65                 state.set_temperature(temp / 100.0);
66
67                 state.set_orient(orient);
68
69                 state.set_imu(new AltosIMU(accel_y,     /* along */
70                                            accel_x,     /* across */
71                                            accel_z,     /* through */
72                                            gyro_y,      /* along */
73                                            gyro_x,      /* across */
74                                            gyro_z));    /* through */
75
76                 state.set_mag(new AltosMag(mag_x, mag_y, mag_z));
77         }
78 }