* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_11;
import java.util.concurrent.*;
+import java.io.*;
-public class AltosIMU implements Cloneable {
- public double accel_x;
- public double accel_y;
- public double accel_z;
+public class AltosIMU implements Cloneable, AltosJsonable {
+ public int accel_along;
+ public int accel_across;
+ public int accel_through;
- public double gyro_x;
- public double gyro_y;
- public double gyro_z;
+ public int gyro_roll;
+ public int gyro_pitch;
+ public int gyro_yaw;
-/*
- * XXX use ground measurements to adjust values
-
- public double ground_accel_x;
- public double ground_accel_y;
- public double ground_accel_z;
-
- public double ground_gyro_x;
- public double ground_gyro_y;
- public double ground_gyro_z;
-*/
+ public static final double counts_per_g = 2048.0;
- public static int counts_per_g = 2048;
-
- public static double convert_accel(int counts) {
- return (double) counts / (double) counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
+ public static double convert_accel(double counts) {
+ return counts / counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
}
- public static double counts_per_degsec = 16.4;
+ public static final double counts_per_degsec = 16.4;
- public static double convert_gyro(int counts) {
- return (double) counts / counts_per_degsec;
+ public static double convert_gyro(double counts) {
+ return counts / counts_per_degsec;
}
public boolean parse_string(String line) {
String[] items = line.split("\\s+");
if (items.length >= 8) {
- accel_x = convert_accel(Integer.parseInt(items[1]));
- accel_y = convert_accel(Integer.parseInt(items[2]));
- accel_z = convert_accel(Integer.parseInt(items[3]));
- gyro_x = convert_gyro(Integer.parseInt(items[5]));
- gyro_y = convert_gyro(Integer.parseInt(items[6]));
- gyro_z = convert_gyro(Integer.parseInt(items[7]));
+ accel_along = Integer.parseInt(items[1]);
+ accel_across = Integer.parseInt(items[2]);
+ accel_through = Integer.parseInt(items[3]);
+ gyro_roll = Integer.parseInt(items[5]);
+ gyro_pitch = Integer.parseInt(items[6]);
+ gyro_yaw = Integer.parseInt(items[7]);
}
return true;
}
public AltosIMU clone() {
AltosIMU n = new AltosIMU();
- n.accel_x = accel_x;
- n.accel_y = accel_y;
- n.accel_z = accel_z;
+ n.accel_along = accel_along;
+ n.accel_across = accel_across;
+ n.accel_through = accel_through;
- n.gyro_x = gyro_x;
- n.gyro_y = gyro_y;
- n.gyro_z = gyro_z;
+ n.gyro_roll = gyro_roll;
+ n.gyro_pitch = gyro_pitch;
+ n.gyro_yaw = gyro_yaw;
return n;
}
}
public AltosIMU() {
- accel_x = AltosLib.MISSING;
- accel_y = AltosLib.MISSING;
- accel_z = AltosLib.MISSING;
+ accel_along = AltosLib.MISSING;
+ accel_across = AltosLib.MISSING;
+ accel_through = AltosLib.MISSING;
+
+ gyro_roll = AltosLib.MISSING;
+ gyro_pitch = AltosLib.MISSING;
+ gyro_yaw = AltosLib.MISSING;
+ }
+
+ public AltosIMU(int accel_along, int accel_across, int accel_through,
+ int gyro_roll, int gyro_pitch, int gyro_yaw) {
+
+ this.accel_along = accel_along;
+ this.accel_across = accel_across;
+ this.accel_through = accel_through;
- gyro_x = AltosLib.MISSING;
- gyro_y = AltosLib.MISSING;
- gyro_z = AltosLib.MISSING;
+ this.gyro_roll = gyro_roll;
+ this.gyro_pitch = gyro_pitch;
+ this.gyro_yaw = gyro_yaw;
}
public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
break;
}
}
+
+ public AltosIMU (AltosJson j) {
+ this();
+
+ accel_along = j.get_int("accel_along", accel_along);
+ accel_across = j.get_int("accel_across", accel_across);
+ accel_through = j.get_int("accel_through", accel_through);
+
+ gyro_roll = j.get_int("gyro_roll", gyro_roll);
+ gyro_pitch = j.get_int("gyro_pitch", gyro_pitch);
+ gyro_yaw = j.get_int("gyro_yaw", gyro_yaw);
+ }
+
+ static public AltosIMU fromJson(AltosJson j, AltosIMU def) {
+ if (j == null)
+ return def;
+ return new AltosIMU(j);
+ }
+
+ public AltosJson json() {
+ AltosJson j = new AltosJson();
+
+ j.put("accel_along", accel_along);
+ j.put("accel_across", accel_across);
+ j.put("accel_through", accel_through);
+
+ j.put("gyro_roll", gyro_roll);
+ j.put("gyro_pitch", gyro_pitch);
+ j.put("gyro_yaw", gyro_yaw);
+ return j;
+ }
}