case imu_type_easytimer_v1:
return counts_per_g_bmx;
case imu_type_easymotor_v2:
- return counts_per_g_bmx;
+ return counts_per_g_adxl;
default:
return AltosLib.MISSING;
}
}
public static double convert_accel(double counts, int imu_type) {
- return counts / counts_per_g(imu_type) * AltosConvert.gravity;
+ double cpg = counts_per_g(imu_type);
+ if (cpg == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return counts / cpg * AltosConvert.gravity;
}
public static final double GYRO_FULLSCALE_DEGREES_MPU = 2000.0;
}
public static double gyro_degrees_per_second(double counts, int imu_type) {
- return counts / counts_per_degree(imu_type);
+ double cpd = counts_per_degree(imu_type);
+ if (cpd == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return counts / cpd;
}
public static final int imu_axis_x = 0;
}
public static double convert_gauss(double counts, int imu_type, int imu_axis) {
- return counts / counts_per_gauss(imu_type, imu_axis);
+ double cpg = counts_per_gauss(imu_type, imu_axis);
+ if (cpg == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return counts / cpg;
}
public boolean parse_string(String line) {
case imu_type_easytimer_v1:
return accel_x;
case imu_type_easymotor_v2:
- return accel_x;
+ return -accel_x;
default:
return AltosLib.MISSING;
}
}
}
+ private static boolean is_primary_accel(int imu_type) {
+ switch (imu_type) {
+ case imu_type_easytimer_v1:
+ return true;
+ default:
+ return false;
+ }
+ }
+
public static int mag_through_axis(int imu_type) {
return imu_axis_z;
}
if (imu != null) {
if (imu.gyro_x != AltosLib.MISSING) {
+ cal_data.set_gyro_zero(0, 0, 0);
listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
listener.set_accel(cal_data.accel_along(imu.accel_along(imu_type)),
cal_data.accel_across(imu.accel_across(imu_type)),
cal_data.accel_through(imu.accel_through(imu_type)));
+ if (is_primary_accel(imu_type)) {
+ int accel = imu.accel_along(imu_type);
+ if (!cal_data.adxl375_inverted)
+ accel = -accel;
+ if (cal_data.pad_orientation == 1)
+ accel = -accel;
+ listener.set_acceleration(cal_data.acceleration(accel));
+ }
if (imu.mag_x != AltosLib.MISSING) {
listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
cal_data.mag_across(imu.mag_across(imu_type)),