* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_9;
import java.io.*;
import java.util.*;
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());