* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_2;
+package org.altusmetrum.altoslib_7;
import java.io.*;
import java.util.*;
public class AltosEepromMega extends AltosEeprom {
public static final int record_length = 32;
+ public static final int max_sat = 12;
+
+ private int log_format;
+
public int record_length() { return record_length; }
/* AO_LOG_FLIGHT elements */
public int flight() { return data16(0); }
public int ground_accel() { return data16(2); }
public int ground_pres() { return data32(4); }
- public int ground_temp() { return data32(8); }
+ public int ground_accel_along() { return data16(8); }
+ public int ground_accel_across() { return data16(10); }
+ public int ground_accel_through() { return data16(12); }
+ public int ground_roll() {
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ return data32(16);
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+ return data16(14);
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+ public int ground_pitch() {
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ return data32(20);
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+ return data16(16);
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+ public int ground_yaw() {
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ return data32(24);
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+ return data16(18);
+ default:
+ return AltosLib.MISSING;
+ }
+ }
/* AO_LOG_STATE elements */
public int state() { return data16(0); }
/* AO_LOG_GPS_TIME elements */
public int latitude() { return data32(0); }
public int longitude() { return data32(4); }
- public int altitude() { return data16(8); }
+ public int altitude_low() { return data16(8); }
public int hour() { return data8(10); }
public int minute() { return data8(11); }
public int second() { return data8(12); }
public int year() { return data8(14); }
public int month() { return data8(15); }
public int day() { return data8(16); }
-
+ public int course() { return data8(17); }
+ public int ground_speed() { return data16(18); }
+ public int climb_rate() { return data16(20); }
+ public int pdop() { return data8(22); }
+ public int hdop() { return data8(23); }
+ public int vdop() { return data8(24); }
+ public int mode() { return data8(25); }
+ public int altitude_high() { return data16(26); }
+
/* AO_LOG_GPS_SAT elements */
public int nsat() { return data16(0); }
public int svid(int n) { return data8(2 + n * 2); }
public int c_n(int n) { return data8(2 + n * 2 + 1); }
- public AltosEepromMega (AltosEepromChunk chunk, int start) throws ParseException {
+ public AltosEepromMega (AltosEepromChunk chunk, int start, int log_format) throws ParseException {
+ this.log_format = log_format;
parse_chunk(chunk, start);
}
state.set_flight(flight());
state.set_ground_accel(ground_accel());
state.set_ground_pressure(ground_pres());
- state.set_temperature(ground_temp() / 100.0);
+ state.set_accel_ground(ground_accel_along(),
+ ground_accel_across(),
+ ground_accel_through());
+ state.set_gyro_zero(ground_roll() / 512.0,
+ ground_pitch() / 512.0,
+ ground_yaw() / 512.0);
break;
case AltosLib.AO_LOG_STATE:
state.set_tick(tick);
state.set_tick(tick);
state.set_ms5607(pres(), temp());
- AltosIMU imu = new AltosIMU();
- imu.accel_x = accel_x();
- imu.accel_y = accel_y();
- imu.accel_z = accel_z();
+ AltosIMU imu = new AltosIMU(accel_y(), /* along */
+ accel_x(), /* across */
+ accel_z(), /* through */
+ gyro_y(), /* roll */
+ gyro_x(), /* pitch */
+ gyro_z()); /* yaw */
- imu.gyro_x = gyro_x();
- imu.gyro_y = gyro_y();
- imu.gyro_z = gyro_z();
- state.imu = imu;
+ if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
+ state.check_imu_wrap(imu);
- AltosMag mag = new AltosMag();
- mag.x = mag_x();
- mag.y = mag_y();
- mag.z = mag_z();
+ state.set_imu(imu);
- state.mag = mag;
+ state.set_mag(new AltosMag(mag_x(),
+ mag_y(),
+ mag_z()));
state.set_accel(accel());
voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
state.set_ignitor_voltage(voltages);
+ state.set_pyro_fired(pyro());
break;
case AltosLib.AO_LOG_GPS_TIME:
state.set_tick(tick);
gps = state.make_temp_gps(false);
gps.lat = latitude() / 1e7;
gps.lon = longitude() / 1e7;
- gps.alt = altitude();
+
+ if (state.altitude_32())
+ gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
+ else
+ gps.alt = altitude_low();
gps.hour = hour();
gps.minute = minute();
gps.year = 2000 + year();
gps.month = month();
gps.day = day();
+ gps.ground_speed = ground_speed() * 1.0e-2;
+ gps.course = course() * 2;
+ gps.climb_rate = climb_rate() * 1.0e-2;
+ if (state.compare_version("1.4.9") >= 0) {
+ gps.pdop = pdop() / 10.0;
+ gps.hdop = hdop() / 10.0;
+ gps.vdop = vdop() / 10.0;
+ } else {
+ gps.pdop = pdop() / 100.0;
+ if (gps.pdop < 0.8)
+ gps.pdop += 2.56;
+ gps.hdop = hdop() / 100.0;
+ if (gps.hdop < 0.8)
+ gps.hdop += 2.56;
+ gps.vdop = vdop() / 100.0;
+ if (gps.vdop < 0.8)
+ gps.vdop += 2.56;
+ }
break;
case AltosLib.AO_LOG_GPS_SAT:
state.set_tick(tick);
gps = state.make_temp_gps(true);
int n = nsat();
+ if (n > max_sat)
+ n = max_sat;
for (int i = 0; i < n; i++)
gps.add_sat(svid(i), c_n(i));
break;
}
}
- public AltosEepromMega (String line) {
+ public AltosEepromMega (String line, int log_format) {
+ this.log_format = log_format;
parse_string(line);
}
- static public LinkedList<AltosEeprom> read(FileInputStream input) {
+ static public LinkedList<AltosEeprom> read(FileInputStream input, int log_format) {
LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>();
for (;;) {
if (line == null)
break;
try {
- AltosEepromMega mega = new AltosEepromMega(line);
+ AltosEepromMega mega = new AltosEepromMega(line, log_format);
if (mega.cmd != AltosLib.AO_LOG_INVALID)
megas.add(mega);
} catch (Exception e) {