X-Git-Url: https://git.gag.com/?a=blobdiff_plain;ds=sidebyside;f=altoslib%2FAltosTelemetryMegaNorm.java;fp=altoslib%2FAltosTelemetryMegaNorm.java;h=4a8bf106b8e88d4b0214c72b9c9335905e5bac53;hb=db950e97caefdd3257c1a2de3547ab88a2bd2344;hp=0000000000000000000000000000000000000000;hpb=064e30c73ff539ec53d15efe6cbab982b9c35eaf;p=fw%2Faltos

diff --git a/altoslib/AltosTelemetryMegaNorm.java b/altoslib/AltosTelemetryMegaNorm.java
new file mode 100644
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--- /dev/null
+++ b/altoslib/AltosTelemetryMegaNorm.java
@@ -0,0 +1,90 @@
+/*
+ * Copyright © 2021 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.altoslib_14;
+
+public class AltosTelemetryMegaNorm extends AltosTelemetryStandard {
+	int	orient() { return int8(5); }
+
+	int	accel() { return int16(6); }
+	int	pres() { return int32(8); }
+	int	temp() { return int16(12); }
+
+	int	accel_along() { return int16(14); }
+	int	accel_across() { return int16(16); }
+	int	accel_through() { return int16(18); }
+
+	int	gyro_roll() { return int16(20); }
+	int	gyro_pitch() { return int16(22); }
+	int	gyro_yaw() { return int16(24); }
+
+	int	mag_along() { return int16(26); }
+	int	mag_across() { return int16(28); }
+	int	mag_through() { return int16(30); }
+
+	int imu_model, mag_model;
+
+	public AltosTelemetryMegaNorm(int[] bytes, int imu_model, int mag_model) throws AltosCRCException {
+		super(bytes);
+		this.imu_model = imu_model;
+		this.mag_model = mag_model;
+	}
+
+	public void provide_data(AltosDataListener listener) {
+		super.provide_data(listener);
+
+		AltosCalData cal_data = listener.cal_data();
+
+		listener.set_acceleration(cal_data.acceleration(accel()));
+		listener.set_pressure(pres());
+		listener.set_temperature(temp() / 100.0);
+
+		listener.set_orient(orient());
+		cal_data.set_imu_model(imu_model);
+		cal_data.set_mag_model(mag_model);
+
+		/* XXX we have no calibration data for these values */
+
+		if (cal_data.accel_zero_along == AltosLib.MISSING)
+			cal_data.set_accel_zero(0, 0, 0);
+		if (cal_data.gyro_zero_roll == AltosLib.MISSING)
+			cal_data.set_gyro_zero(0, 0, 0);
+
+		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_along();
+		int	mag_across = mag_across();
+		int	mag_through = mag_through();
+
+		listener.set_accel(cal_data.accel_along(accel_along),
+				   cal_data.accel_across(accel_across),
+				   cal_data.accel_through(accel_through));
+		listener.set_gyro(cal_data.gyro_roll(gyro_roll),
+				  cal_data.gyro_pitch(gyro_pitch),
+				  cal_data.gyro_yaw(gyro_yaw));
+		listener.set_mag(cal_data.mag_along(mag_along),
+				 cal_data.mag_across(mag_across),
+				 cal_data.mag_through(mag_through));
+	}
+}