* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
public static final double counts_per_g_mpu = 2048.0;
public static final double counts_per_g_bmx = 2048.0;
public static final double counts_per_g_mpu = 2048.0;
public static final double counts_per_g_bmx = 2048.0;
- return counts / counts_per_g(imu_type) * AltosConvert.gravity;
+ double cpg = counts_per_g(imu_type);
+ if (cpg == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return counts / cpg * AltosConvert.gravity;
case imu_type_easymega_v1:
case imu_type_easymega_v2:
return counts_per_degree_mpu;
case imu_type_easymega_v1:
case imu_type_easymega_v2:
return counts_per_degree_mpu;
case imu_type_easymega_v2:
return counts_per_gauss_mpu;
case imu_type_telemega_v4:
case imu_type_easymega_v2:
return counts_per_gauss_mpu;
case imu_type_telemega_v4:
- return counts / counts_per_gauss(imu_type, imu_axis);
+ double cpg = counts_per_gauss(imu_type, imu_axis);
+ if (cpg == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return counts / cpg;
public static final int imu_type_easymega_v1 = 3; /* MPU6000 */
public static final int imu_type_easymega_v2 = 4; /* MPU9250 */
public static final int imu_type_easymega_v1 = 3; /* MPU6000 */
public static final int imu_type_easymega_v2 = 4; /* MPU9250 */
- listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
- cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
- cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
+ if (imu.gyro_x != AltosLib.MISSING) {
+ cal_data.set_gyro_zero(0, 0, 0);
+ listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
+ cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
+ cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
+ }
listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
cal_data.accel_across(imu.accel_across(imu_type)),
cal_data.accel_through(imu.accel_through(imu_type)));
listener.set_accel(cal_data.accel_along(imu.accel_along(imu_type)),
cal_data.accel_across(imu.accel_across(imu_type)),
cal_data.accel_through(imu.accel_through(imu_type)));
listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
cal_data.accel_across(imu.accel_across(imu_type)),
cal_data.accel_through(imu.accel_through(imu_type)));
listener.set_accel(cal_data.accel_along(imu.accel_along(imu_type)),
cal_data.accel_across(imu.accel_across(imu_type)),
cal_data.accel_through(imu.accel_through(imu_type)));
+ if (is_primary_accel(imu_type)) {
+ int accel = imu.accel_along(imu_type);
+ if (!cal_data.adxl375_inverted)
+ accel = -accel;
+ if (cal_data.pad_orientation == 1)
+ accel = -accel;
+ listener.set_acceleration(cal_data.acceleration(accel));
+ }
if (imu.mag_x != AltosLib.MISSING) {
listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
cal_data.mag_across(imu.mag_across(imu_type)),
if (imu.mag_x != AltosLib.MISSING) {
listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
cal_data.mag_across(imu.mag_across(imu_type)),