* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_8;
import java.io.*;
import java.util.*;
public static final int max_sat = 12;
+ private int log_format;
+
public int record_length() { return record_length; }
/* AO_LOG_FLIGHT elements */
public int ground_accel_along() { return data16(8); }
public int ground_accel_across() { return data16(10); }
public int ground_accel_through() { return data16(12); }
- public int ground_roll() { return data16(14); }
- public int ground_pitch() { return data16(16); }
- public int ground_yaw() { return data16(18); }
+ public int ground_roll() {
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ return data32(16);
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+ return data16(14);
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+ public int ground_pitch() {
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ return data32(20);
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+ return data16(16);
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+ public int ground_yaw() {
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ return data32(24);
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+ return data16(18);
+ default:
+ return AltosLib.MISSING;
+ }
+ }
/* AO_LOG_STATE elements */
public int state() { return data16(0); }
public int svid(int n) { return data8(2 + n * 2); }
public int c_n(int n) { return data8(2 + n * 2 + 1); }
- public AltosEepromMega (AltosEepromChunk chunk, int start) throws ParseException {
+ public AltosEepromMega (AltosEepromChunk chunk, int start, int log_format) throws ParseException {
+ this.log_format = log_format;
parse_chunk(chunk, start);
}
state.set_flight(flight());
state.set_ground_accel(ground_accel());
state.set_ground_pressure(ground_pres());
+ state.set_accel_ground(ground_accel_along(),
+ ground_accel_across(),
+ ground_accel_through());
+ state.set_gyro_zero(ground_roll() / 512.0,
+ ground_pitch() / 512.0,
+ ground_yaw() / 512.0);
break;
case AltosLib.AO_LOG_STATE:
state.set_tick(tick);
state.set_tick(tick);
state.set_ms5607(pres(), temp());
- AltosIMU imu = new AltosIMU();
- imu.accel_x = AltosIMU.convert_accel(accel_x());
- imu.accel_y = AltosIMU.convert_accel(accel_y());
- imu.accel_z = AltosIMU.convert_accel(accel_z());
+ AltosIMU imu = new AltosIMU(accel_y(), /* along */
+ accel_x(), /* across */
+ accel_z(), /* through */
+ gyro_y(), /* roll */
+ gyro_x(), /* pitch */
+ gyro_z()); /* yaw */
- imu.gyro_x = AltosIMU.convert_gyro(gyro_x());
- imu.gyro_y = AltosIMU.convert_gyro(gyro_y());
- imu.gyro_z = AltosIMU.convert_gyro(gyro_z());
- state.imu = imu;
+ if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
+ state.check_imu_wrap(imu);
- AltosMag mag = new AltosMag();
- mag.x = AltosMag.convert_gauss(mag_x());
- mag.y = AltosMag.convert_gauss(mag_y());
- mag.z = AltosMag.convert_gauss(mag_z());
+ state.set_imu(imu);
- state.mag = mag;
+ state.set_mag(new AltosMag(mag_x(),
+ mag_y(),
+ mag_z()));
state.set_accel(accel());
}
}
- public AltosEepromMega (String line) {
+ public AltosEepromMega (String line, int log_format) {
+ this.log_format = log_format;
parse_string(line);
}
- static public LinkedList<AltosEeprom> read(FileInputStream input) {
+ static public LinkedList<AltosEeprom> read(FileInputStream input, int log_format) {
LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>();
for (;;) {
if (line == null)
break;
try {
- AltosEepromMega mega = new AltosEepromMega(line);
+ AltosEepromMega mega = new AltosEepromMega(line, log_format);
if (mega.cmd != AltosLib.AO_LOG_INVALID)
megas.add(mega);
} catch (Exception e) {