package org.altusmetrum.altoslib_11;
-import java.io.*;
-
public class AltosState extends AltosDataListener {
public static final int set_position = 1;
accel_ground_across = AltosLib.MISSING;
accel_ground_through = AltosLib.MISSING;
- pad_orientation = AltosLib.MISSING;
-
set_npad(0);
ngps = 0;
public AltosRotation rotation;
public AltosRotation ground_rotation;
- public int pad_orientation;
-
public double accel_ground_along, accel_ground_across, accel_ground_through;
void update_pad_rotation() {
- if (pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
+ if (cal_data.pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data.accel_zero_across),
AltosIMU.convert_accel(accel_ground_through - cal_data.accel_zero_through),
AltosIMU.convert_accel(accel_ground_along - cal_data.accel_zero_along),
- pad_orientation);
+ cal_data.pad_orientation);
ground_rotation = rotation;
orient.set_computed(rotation.tilt(), time);
}
update_pad_rotation();
}
- public void set_pad_orientation(int pad_orientation) {
- this.pad_orientation = pad_orientation;
- update_pad_rotation();
- }
-
public double last_imu_time;
- private double radians(double degrees) {
- if (degrees == AltosLib.MISSING)
- return AltosLib.MISSING;
- return degrees * Math.PI / 180.0;
- }
-
private void update_orient() {
if (last_imu_time != AltosLib.MISSING) {
double t = time - last_imu_time;
- double pitch = radians(gyro_pitch());
- double yaw = radians(gyro_yaw());
- double roll = radians(gyro_roll());
+ double pitch = AltosConvert.degrees_to_radians(gyro_pitch());
+ double yaw = AltosConvert.degrees_to_radians(gyro_yaw());
+ double roll = AltosConvert.degrees_to_radians(gyro_roll());
- if (t > 0 & pitch != AltosLib.MISSING && rotation != null) {
+ if (t > 0 && pitch != AltosLib.MISSING && rotation != null) {
rotation.rotate(t, pitch, yaw, roll);
orient.set_computed(rotation.tilt(), time);
}
public void set_gyro(double roll, double pitch, double yaw) {
gyro_roll = roll;
- gyro_pitch = roll;
- gyro_roll = roll;
+ gyro_pitch = pitch;
+ gyro_roll = yaw;
update_orient();
}
}
public AltosState() {
+ Thread.dumpStack();
init();
}
public AltosState (AltosCalData cal_data) {
super(cal_data);
+ if (cal_data == null)
+ Thread.dumpStack();
init();
}
}