*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_8;
+package org.altusmetrum.altoslib_11;
import java.util.concurrent.*;
import java.io.*;
-public class AltosIMU implements Cloneable, Serializable {
+public class AltosIMU implements Cloneable {
public int accel_along;
public int accel_across;
public int accel_through;
public int gyro_pitch;
public int gyro_yaw;
- public static double counts_per_g = 2048.0;
+ public static final double counts_per_g = 2048.0;
public static double convert_accel(double counts) {
- return counts / counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
+ return counts / counts_per_g * AltosConvert.gravity;
}
- public static double counts_per_degsec = 16.4;
+ public static final double counts_per_degsec = 16.4;
public static double convert_gyro(double counts) {
return counts / counts_per_degsec;
return n;
}
- static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
+ static public void provide_data(AltosDataListener listener, AltosLink link, AltosCalData cal_data) throws InterruptedException {
try {
AltosIMU imu = new AltosIMU(link);
- if (imu != null)
- state.set_imu(imu);
+ if (imu != null) {
+ listener.set_accel(cal_data.accel_along(imu.accel_along),
+ cal_data.accel_across(imu.accel_across),
+ cal_data.accel_through(imu.accel_through));
+ listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll),
+ cal_data.gyro_pitch(imu.gyro_pitch),
+ cal_data.gyro_yaw(imu.gyro_yaw));
+ }
} catch (TimeoutException te) {
}
}