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releasing 1.8.3
[fw/altos]
/
altoslib
/
AltosIMU.java
diff --git
a/altoslib/AltosIMU.java
b/altoslib/AltosIMU.java
index 407ed4bbc156a202756cbbfffad83b0dfb07669c..ba6f1a82584089c46a643d4e67d03af691ce39aa 100644
(file)
--- a/
altoslib/AltosIMU.java
+++ b/
altoslib/AltosIMU.java
@@
-16,7
+16,7
@@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1
1
;
+package org.altusmetrum.altoslib_1
2
;
import java.util.concurrent.*;
import java.io.*;
import java.util.concurrent.*;
import java.io.*;
@@
-74,17
+74,18
@@
public class AltosIMU implements Cloneable {
return n;
}
return n;
}
- static public void provide_data(AltosDataListener listener, AltosLink link
, AltosCalData cal_data
) throws InterruptedException {
+ static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException {
try {
AltosIMU imu = new AltosIMU(link);
try {
AltosIMU imu = new AltosIMU(link);
+ AltosCalData cal_data = listener.cal_data();
if (imu != null) {
listener.set_gyro(cal_data.gyro_roll(imu.gyro_y),
cal_data.gyro_pitch(imu.gyro_x),
cal_data.gyro_yaw(imu.gyro_z));
if (imu != null) {
listener.set_gyro(cal_data.gyro_roll(imu.gyro_y),
cal_data.gyro_pitch(imu.gyro_x),
cal_data.gyro_yaw(imu.gyro_z));
- listener.set_accel_ground(
cal_data.accel_along(imu.accel_y)
,
-
cal_data.accel_across(imu.accel_x)
,
-
cal_data.accel_through(imu.accel_z)
);
+ listener.set_accel_ground(
imu.accel_y
,
+
imu.accel_x
,
+
imu.accel_z
);
}
} catch (TimeoutException te) {
}
}
} catch (TimeoutException te) {
}