* General Public License for more details.
*/
-package org.altusmetrum.altoslib_12;
+package org.altusmetrum.altoslib_13;
public class AltosEepromRecordMega extends AltosEepromRecord {
public static final int record_length = 32;
private int ground_roll() {
switch (log_format) {
case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+ case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
return data32(16);
case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
return data16(14);
private int ground_pitch() {
switch (log_format) {
case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+ case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
return data32(20);
case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
return data16(16);
private int ground_yaw() {
switch (log_format) {
case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+ case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
return data32(24);
case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
return data16(18);
private int mag_x() { return data16(20); }
private int mag_z() { return data16(22); }
private int mag_y() { return data16(24); }
+
+ private int accel_across() {
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+ return accel_x();
+ case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+ return -accel_y();
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int accel_along(){
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+ return accel_y();
+ case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+ return accel_x();
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int accel_through() {
+ return accel_z();
+ }
+
+ private int gyro_pitch() {
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+ return gyro_x();
+ case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+ return -gyro_y();
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int gyro_roll() {
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+ return gyro_y();
+ case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+ return gyro_x();
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int gyro_yaw() {
+ return gyro_z();
+ }
+
+ private int mag_across() {
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+ return mag_x();
+ case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+ return -mag_y();
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int mag_along() {
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+ return mag_y();
+ case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+ return mag_y();
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int mag_through() {
+ return mag_z();
+ }
+
+
private int accel() { return data16(26); }
/* AO_LOG_TEMP_VOLT elements */
listener.set_pressure(pt.pres);
listener.set_temperature(pt.temp);
- int accel_along = accel_y();
- int accel_across = accel_x();
- int accel_through = accel_z();
- int gyro_roll = gyro_y();
- int gyro_pitch = gyro_x();
- int gyro_yaw = gyro_z();
+ int accel_along = accel_along();
+ int accel_across = accel_across();
+ int accel_through = accel_through();
+ int gyro_roll = gyro_roll();
+ int gyro_pitch = gyro_pitch();
+ int gyro_yaw = gyro_yaw();
- int mag_along = mag_y();
- int mag_across = mag_x();
- int mag_through = mag_z();
+ int mag_along = mag_along();
+ int mag_across = mag_across();
+ int mag_through = mag_through();
if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);