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altos: telefiretwo-v0.1 bits
[fw/altos]
/
altoslib
/
AltosEepromMega.java
diff --git
a/altoslib/AltosEepromMega.java
b/altoslib/AltosEepromMega.java
index aaff2410ff527588686c723e1efdac26007e7566..db8ab3a86ca1ea2d85c29c4deab6a4e2dcaffe43 100644
(file)
--- a/
altoslib/AltosEepromMega.java
+++ b/
altoslib/AltosEepromMega.java
@@
-15,7
+15,7
@@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_
5
;
+package org.altusmetrum.altoslib_
9
;
import java.io.*;
import java.util.*;
import java.io.*;
import java.util.*;
@@
-149,6
+149,12
@@
public class AltosEepromMega extends AltosEeprom {
state.set_flight(flight());
state.set_ground_accel(ground_accel());
state.set_ground_pressure(ground_pres());
state.set_flight(flight());
state.set_ground_accel(ground_accel());
state.set_ground_pressure(ground_pres());
+ 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);
break;
case AltosLib.AO_LOG_STATE:
state.set_tick(tick);
@@
-158,22
+164,21
@@
public class AltosEepromMega extends AltosEeprom {
state.set_tick(tick);
state.set_ms5607(pres(), temp());
state.set_tick(tick);
state.set_ms5607(pres(), temp());
- AltosIMU imu = new AltosIMU();
- imu.accel_x = AltosIMU.convert_accel(accel_x());
- imu.accel_y = AltosIMU.convert_accel(accel_y());
- imu.accel_z = AltosIMU.convert_accel(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 = AltosIMU.convert_gyro(gyro_x());
- imu.gyro_y = AltosIMU.convert_gyro(gyro_y());
- imu.gyro_z = AltosIMU.convert_gyro(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 = AltosMag.convert_gauss(mag_x());
- mag.y = AltosMag.convert_gauss(mag_y());
- mag.z = AltosMag.convert_gauss(mag_z());
+ state.set_imu(imu);
- state.mag = mag;
+ state.set_mag(new AltosMag(mag_x(),
+ mag_y(),
+ mag_z()));
state.set_accel(accel());
state.set_accel(accel());