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publish support for TeleGPS v2.0
[fw/altos]
/
altoslib
/
AltosTelemetryMegaData.java
diff --git
a/altoslib/AltosTelemetryMegaData.java
b/altoslib/AltosTelemetryMegaData.java
index 93610118311cf841b68bebe6026dc9e2fc14c933..7ef9c63759fd0e00ff70823903837c9e162973f0 100644
(file)
--- a/
altoslib/AltosTelemetryMegaData.java
+++ b/
altoslib/AltosTelemetryMegaData.java
@@
-3,7
+3,8
@@
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
@@
-15,71
+16,58
@@
* 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_
12
;
public class AltosTelemetryMegaData extends AltosTelemetryStandard {
public class AltosTelemetryMegaData extends AltosTelemetryStandard {
- int state;
- int v_batt;
- int v_pyro;
- int sense[];
+ int state() { return uint8(5); }
- int ground_pres;
- int ground_accel;
- int accel_plus_g;
- int accel_minus_g;
+ int v_batt() { return int16(6); }
+ int v_pyro() { return int16(8); }
+ int sense(int i) { int v = uint8(10+i); return v << 4 | v >> 8; }
- int acceleration;
- int speed;
- int height;
+ int ground_pres() { return int32(16); }
+ int ground_accel() { return int16(20); }
+ int accel_plus_g() { return int16(22); }
+ int accel_minus_g() { return int16(24);}
- public AltosTelemetryMegaData(int[] bytes) {
- super(bytes);
-
- state = int8(5);
-
- v_batt = int16(6);
- v_pyro = int16(8);
-
- sense = new int[6];
-
- for (int i = 0; i < 6; i++) {
- sense[i] = int8(10 + i) << 4;
- sense[i] |= sense[i] >> 8;
- }
+ int acceleration() { return int16(26); }
+ int speed() { return int16(28); }
+ int height_16() { return int16(30); }
- ground_pres = int32(16);
- ground_accel = int16(20);
- accel_plus_g = int16(22);
- accel_minus_g = int16(24);
-
- acceleration = int16(26);
- speed = int16(28);
- height = int16(30);
+ public AltosTelemetryMegaData(int[] bytes) throws AltosCRCException {
+ super(bytes);
}
}
- public void
update_state(AltosState state
) {
- super.
update_state(state
);
+ public void
provide_data(AltosDataListener listener
) {
+ super.
provide_data(listener
);
-
state.set_state(this.state
);
+
listener.set_state(state()
);
-
state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt
));
-
state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pyro
));
+
listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()
));
+
listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pyro()
));
-
state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense[4]
));
-
state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense[5]
));
+
listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(4)
));
+
listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(5)
));
double voltages[] = new double[4];
for (int i = 0; i < 4; i++)
double voltages[] = new double[4];
for (int i = 0; i < 4; i++)
- voltages[i] = AltosConvert.mega_pyro_voltage(sense[i]);
+ voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
+
+ listener.set_igniter_voltage(voltages);
+
+ AltosCalData cal_data = listener.cal_data();
- state.set_ignitor_voltage(voltages);
+ cal_data.set_ground_accel(ground_accel());
+ cal_data.set_ground_pressure(ground_pres());
+ cal_data.set_accel_plus_minus(accel_plus_g(), accel_minus_g());
- state.set_ground_accel(ground_accel);
- state.set_ground_pressure(ground_pres);
- state.set_accel_g(accel_plus_g, accel_minus_g);
+ /* Fill in the high bits of height from recent GPS
+ * data if available, otherwise guess using the
+ * previous kalman height
+ */
-
state.set_kalman(height, speed/16.0, acceleration
/ 16.0);
+
listener.set_kalman(height_16(), speed()/16.0, acceleration()
/ 16.0);
}
}
}
}