+ public static final int orient_telemega = 0;
+ public static final int orient_easymega_v2 = 1;
+
+ private int accel_across(int orient) {
+ switch (orient) {
+ case orient_telemega:
+ return accel_x;
+ case orient_easymega_v2:
+ return -accel_y;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int accel_along(int orient) {
+ switch (orient) {
+ case orient_telemega:
+ return accel_y;
+ case orient_easymega_v2:
+ return accel_x;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int accel_through(int orient) {
+ return accel_z;
+ }
+
+ private int gyro_roll(int orient) {
+ switch (orient) {
+ case orient_telemega:
+ return gyro_y;
+ case orient_easymega_v2:
+ return gyro_x;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int gyro_pitch(int orient) {
+ switch (orient) {
+ case orient_telemega:
+ return gyro_x;
+ case orient_easymega_v2:
+ return -gyro_y;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int gyro_yaw(int orient) {
+ return gyro_z;
+ }
+
+ private int mag_across(int orient) {
+ switch (orient) {
+ case orient_telemega:
+ return mag_x;
+ case orient_easymega_v2:
+ return -mag_y;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int mag_along(int orient) {
+ switch (orient) {
+ case orient_telemega:
+ return mag_y;
+ case orient_easymega_v2:
+ return mag_x;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int mag_through(int orient) {
+ return mag_z;
+ }
+
+ static public void provide_data(AltosDataListener listener, AltosLink link, int orient) throws InterruptedException {