altoslib: Check for negative tick wrap when importing flight records

[fw/altos] / altoslib / AltosCalData.java

diff --git a/altoslib/AltosCalData.java b/altoslib/AltosCalData.java
index 5bc6c4fd5b51299db71f92c868d22caa73d34988..53e3b8fb6c4bbb271db9c6af215e3e9ddbaca48b 100644 (file)
--- a/altoslib/AltosCalData.java
+++ b/altoslib/AltosCalData.java
@@ -12,7 +12,7 @@
  * General Public License for more details.
  */
 
  * General Public License for more details.
  */
 

-package org.altusmetrum.altoslib_12;
+package org.altusmetrum.altoslib_14;

 
 /*
  * Calibration and other data needed to construct 'real' values from various data
 
 /*
  * Calibration and other data needed to construct 'real' values from various data


@@ -120,6 +120,13 @@ public class AltosCalData {
                        this.ground_accel = ground_accel;
        }
 
                        this.ground_accel = ground_accel;
        }
 

+       public double           ground_motor_pressure = AltosLib.MISSING;
+
+       public void set_ground_motor_pressure(double ground_motor_pressure) {
+               if (ground_motor_pressure != AltosLib.MISSING)
+                       this.ground_motor_pressure = ground_motor_pressure;
+       }
+

        /* Raw acceleration value */
        public double           accel = AltosLib.MISSING;
 
        /* Raw acceleration value */
        public double           accel = AltosLib.MISSING;
 


@@ -133,6 +140,18 @@ public class AltosCalData {
                mma655x_inverted = inverted;
        }
 
                mma655x_inverted = inverted;
        }
 

+       public boolean adxl375_inverted = false;
+
+       public void set_adxl375_inverted(boolean inverted) {
+               adxl375_inverted = inverted;
+       }
+
+       public int adxl375_axis = AltosLib.MISSING;
+
+       public void set_adxl375_axis(int axis) {
+               adxl375_axis = axis;
+       }
+

        public int pad_orientation = AltosLib.MISSING;
 
        public void set_pad_orientation(int orientation) {
        public int pad_orientation = AltosLib.MISSING;
 
        public void set_pad_orientation(int orientation) {


@@ -142,7 +161,9 @@ public class AltosCalData {
 
        /* Compute acceleration */
        public double acceleration(double sensor) {
 
        /* Compute acceleration */
        public double acceleration(double sensor) {

-               return AltosConvert.acceleration_from_sensor(sensor, accel_plus_g, accel_minus_g, ground_accel);
+               double accel;
+               accel = AltosConvert.acceleration_from_sensor(sensor, accel_plus_g, accel_minus_g, ground_accel);
+               return accel;

        }
 
        public AltosMs5607      ms5607 = null;
        }
 
        public AltosMs5607      ms5607 = null;


@@ -181,9 +202,12 @@ public class AltosCalData {
        public void set_tick(int tick) {
                if (tick != AltosLib.MISSING) {
                        if (prev_tick != AltosLib.MISSING) {
        public void set_tick(int tick) {
                if (tick != AltosLib.MISSING) {
                        if (prev_tick != AltosLib.MISSING) {

-                               while (tick < prev_tick - 1000) {
+                               while (tick < prev_tick - 32767) {

                                        tick += 65536;
                                }
                                        tick += 65536;
                                }

+                               while (tick > prev_tick + 32767) {
+                                       tick -= 65536;
+                               }

                        }
                        if (first_tick == AltosLib.MISSING)
                                first_tick = tick;
                        }
                        if (first_tick == AltosLib.MISSING)
                                first_tick = tick;


@@ -233,6 +257,10 @@ public class AltosCalData {
 
        public int              state = AltosLib.MISSING;
 
 
        public int              state = AltosLib.MISSING;
 

+       public String state_name() {
+               return AltosLib.state_name(state);
+       }
+

        public void set_state(int state) {
                if (state >= AltosLib.ao_flight_boost && boost_tick == AltosLib.MISSING)
                        set_boost_tick();
        public void set_state(int state) {
                if (state >= AltosLib.ao_flight_boost && boost_tick == AltosLib.MISSING)
                        set_boost_tick();


@@ -287,6 +315,24 @@ public class AltosCalData {
                return temp_gps;
        }
 
                return temp_gps;
        }
 

+       public int      imu_type = AltosLib.MISSING;
+
+       public int      imu_model = AltosLib.MISSING;
+
+       public int      mag_model = AltosLib.MISSING;
+
+       public void set_imu_type(int imu_type) {
+               this.imu_type = imu_type;
+       }
+
+       public void set_imu_model(int imu_model) {
+               this.imu_model = imu_model;
+       }
+
+       public void set_mag_model(int mag_model) {
+               this.mag_model = mag_model;
+       }
+

        public double   accel_zero_along, accel_zero_across, accel_zero_through;
 
        public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
        public double   accel_zero_along, accel_zero_across, accel_zero_through;
 
        public void set_accel_zero(double zero_along, double zero_across, double zero_through) {


@@ -298,18 +344,20 @@ public class AltosCalData {
        }
 
        public double accel_along(double counts) {
        }
 
        public double accel_along(double counts) {

-               return AltosIMU.convert_accel(counts - accel_zero_along);
+               return AltosIMU.convert_accel(counts - accel_zero_along, imu_type, imu_model);

        }
 
        public double accel_across(double counts) {
        }
 
        public double accel_across(double counts) {

-               return AltosIMU.convert_accel(counts - accel_zero_across);
+               return AltosIMU.convert_accel(counts - accel_zero_across, imu_type, imu_model);

        }
 
        public double accel_through(double counts) {
        }
 
        public double accel_through(double counts) {

-               return AltosIMU.convert_accel(counts - accel_zero_through);
+               return AltosIMU.convert_accel(counts - accel_zero_through, imu_type, imu_model);

        }
 
        }
 

-       public double   gyro_zero_roll, gyro_zero_pitch, gyro_zero_yaw;
+       public double   gyro_zero_roll = AltosLib.MISSING;
+       public double   gyro_zero_pitch = AltosLib.MISSING;
+       public double   gyro_zero_yaw = AltosLib.MISSING;

 
        public void set_gyro_zero(double roll, double pitch, double yaw) {
                if (roll != AltosLib.MISSING) {
 
        public void set_gyro_zero(double roll, double pitch, double yaw) {
                if (roll != AltosLib.MISSING) {


@@ -324,19 +372,19 @@ public class AltosCalData {
                if (gyro_zero_roll == AltosLib.MISSING || counts == AltosLib.MISSING)
                        return AltosLib.MISSING;
 
                if (gyro_zero_roll == AltosLib.MISSING || counts == AltosLib.MISSING)
                        return AltosLib.MISSING;
 

-               return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_roll);
+               return AltosIMU.gyro_degrees_per_second(counts - gyro_zero_roll, imu_type, imu_model);

        }
 
        public double gyro_pitch(double counts) {
                if (gyro_zero_pitch == AltosLib.MISSING || counts == AltosLib.MISSING)
                        return AltosLib.MISSING;
        }
 
        public double gyro_pitch(double counts) {
                if (gyro_zero_pitch == AltosLib.MISSING || counts == AltosLib.MISSING)
                        return AltosLib.MISSING;

-               return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_pitch);
+               return AltosIMU.gyro_degrees_per_second(counts - gyro_zero_pitch, imu_type, imu_model);

        }
 
        public double gyro_yaw(double counts) {
                if (gyro_zero_yaw == AltosLib.MISSING || counts == AltosLib.MISSING)
                        return AltosLib.MISSING;
        }
 
        public double gyro_yaw(double counts) {
                if (gyro_zero_yaw == AltosLib.MISSING || counts == AltosLib.MISSING)
                        return AltosLib.MISSING;

-               return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_yaw);
+               return AltosIMU.gyro_degrees_per_second(counts - gyro_zero_yaw, imu_type, imu_model);

        }
 
        private double gyro_zero_overflow(double first) {
        }
 
        private double gyro_zero_overflow(double first) {


@@ -369,19 +417,19 @@ public class AltosCalData {
        public double mag_along(double along) {
                if (along == AltosLib.MISSING)
                        return AltosLib.MISSING;
        public double mag_along(double along) {
                if (along == AltosLib.MISSING)
                        return AltosLib.MISSING;

-               return AltosMag.convert_gauss(along);
+               return AltosMag.convert_gauss(along, imu_type, mag_model);

        }
 
        public double mag_across(double across) {
                if (across == AltosLib.MISSING)
                        return AltosLib.MISSING;
        }
 
        public double mag_across(double across) {
                if (across == AltosLib.MISSING)
                        return AltosLib.MISSING;

-               return AltosMag.convert_gauss(across);
+               return AltosMag.convert_gauss(across, imu_type, mag_model);

        }
 
        public double mag_through(double through) {
                if (through == AltosLib.MISSING)
                        return AltosLib.MISSING;
        }
 
        public double mag_through(double through) {
                if (through == AltosLib.MISSING)
                        return AltosLib.MISSING;

-               return AltosMag.convert_gauss(through);
+               return AltosMag.convert_gauss(through, imu_type, mag_model);

        }
 
        public AltosCalData() {
        }
 
        public AltosCalData() {


@@ -404,6 +452,14 @@ public class AltosCalData {
                        set_mma655x_inverted(config_data.mma655x_inverted());
                } catch (AltosUnknownProduct up) {
                }
                        set_mma655x_inverted(config_data.mma655x_inverted());
                } catch (AltosUnknownProduct up) {
                }

+               try {
+                       set_adxl375_inverted(config_data.adxl375_inverted());
+               } catch (AltosUnknownProduct up) {
+               }
+               try {
+                       set_adxl375_axis(config_data.adxl375_axis());
+               } catch (AltosUnknownProduct up) {
+               }

                set_pad_orientation(config_data.pad_orientation);
        }
 }
                set_pad_orientation(config_data.pad_orientation);
        }
 }