+
+ static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
+ try {
+ AltosIMU imu = new AltosIMU(link);
+
+ if (imu != null)
+ state.set_imu(imu);
+ } catch (TimeoutException te) {
+ }
+ }
+
+ public AltosIMU() {
+ accel_x = AltosLib.MISSING;
+ accel_y = AltosLib.MISSING;
+ accel_z = AltosLib.MISSING;
+
+ gyro_x = AltosLib.MISSING;
+ gyro_y = AltosLib.MISSING;
+ gyro_z = AltosLib.MISSING;
+ }
+
+ public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
+ this();
+ link.printf("I\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null) {
+ throw new TimeoutException();
+ }
+ if (parse_string(line))
+ break;
+ }
+ }