X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosCalData.java;h=98f6b5b1c06f47340e27df6d46c7222efebc9c8c;hb=76c5e6bf7ecc30ae77a9744a4af26dca3dc46254;hp=d448fdfe5d468edc586d8d61c23dcd0a9f71cae7;hpb=297eb795b24ec31f6599f48bc8c3769557a7ec6f;p=fw%2Faltos

diff --git a/altoslib/AltosCalData.java b/altoslib/AltosCalData.java
index d448fdfe..98f6b5b1 100644
--- a/altoslib/AltosCalData.java
+++ b/altoslib/AltosCalData.java
@@ -133,6 +133,18 @@ public class AltosCalData {
 		mma655x_inverted = inverted;
 	}
 
+	public boolean adxl375_inverted = false;
+
+	public void set_adxl375_inverted(boolean inverted) {
+		adxl375_inverted = inverted;
+	}
+
+	public int adxl375_axis = AltosLib.MISSING;
+
+	public void set_adxl375_axis(int axis) {
+		adxl375_axis = axis;
+	}
+
 	public int pad_orientation = AltosLib.MISSING;
 
 	public void set_pad_orientation(int orientation) {
@@ -142,7 +154,9 @@ public class AltosCalData {
 
 	/* Compute acceleration */
 	public double acceleration(double sensor) {
-		return AltosConvert.acceleration_from_sensor(sensor, accel_plus_g, accel_minus_g, ground_accel);
+		double accel;
+		accel = AltosConvert.acceleration_from_sensor(sensor, accel_plus_g, accel_minus_g, ground_accel);
+		return accel;
 	}
 
 	public AltosMs5607	ms5607 = null;
@@ -233,6 +247,10 @@ public class AltosCalData {
 
 	public int		state = AltosLib.MISSING;
 
+	public String state_name() {
+		return AltosLib.state_name(state);
+	}
+
 	public void set_state(int state) {
 		if (state >= AltosLib.ao_flight_boost && boost_tick == AltosLib.MISSING)
 			set_boost_tick();
@@ -287,6 +305,12 @@ public class AltosCalData {
 		return temp_gps;
 	}
 
+	public int	imu_type = AltosLib.MISSING;;
+
+	public void set_imu_type(int imu_type) {
+		this.imu_type = imu_type;
+	}
+
 	public double	accel_zero_along, accel_zero_across, accel_zero_through;
 
 	public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
@@ -298,15 +322,15 @@ public class AltosCalData {
 	}
 
 	public double accel_along(double counts) {
-		return AltosIMU.convert_accel(counts - accel_zero_along);
+		return AltosIMU.convert_accel(counts - accel_zero_along, imu_type);
 	}
 
 	public double accel_across(double counts) {
-		return AltosIMU.convert_accel(counts - accel_zero_across);
+		return AltosIMU.convert_accel(counts - accel_zero_across, imu_type);
 	}
 
 	public double accel_through(double counts) {
-		return AltosIMU.convert_accel(counts - accel_zero_through);
+		return AltosIMU.convert_accel(counts - accel_zero_through, imu_type);
 	}
 
 	public double	gyro_zero_roll,	gyro_zero_pitch, gyro_zero_yaw;
@@ -324,19 +348,19 @@ public class AltosCalData {
 		if (gyro_zero_roll == AltosLib.MISSING || counts == AltosLib.MISSING)
 			return AltosLib.MISSING;
 
-		return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_roll);
+		return AltosIMU.gyro_degrees_per_second(counts - gyro_zero_roll, imu_type);
 	}
 
 	public double gyro_pitch(double counts) {
 		if (gyro_zero_pitch == AltosLib.MISSING || counts == AltosLib.MISSING)
 			return AltosLib.MISSING;
-		return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_pitch);
+		return AltosIMU.gyro_degrees_per_second(counts - gyro_zero_pitch, imu_type);
 	}
 
 	public double gyro_yaw(double counts) {
 		if (gyro_zero_yaw == AltosLib.MISSING || counts == AltosLib.MISSING)
 			return AltosLib.MISSING;
-		return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_yaw);
+		return AltosIMU.gyro_degrees_per_second(counts - gyro_zero_yaw, imu_type);
 	}
 
 	private double gyro_zero_overflow(double first) {
@@ -369,19 +393,19 @@ public class AltosCalData {
 	public double mag_along(double along) {
 		if (along == AltosLib.MISSING)
 			return AltosLib.MISSING;
-		return AltosMag.convert_gauss(along);
+		return AltosIMU.convert_gauss(along, imu_type, AltosIMU.mag_along_axis(imu_type));
 	}
 
 	public double mag_across(double across) {
 		if (across == AltosLib.MISSING)
 			return AltosLib.MISSING;
-		return AltosMag.convert_gauss(across);
+		return AltosIMU.convert_gauss(across, imu_type, AltosIMU.mag_across_axis(imu_type));
 	}
 
 	public double mag_through(double through) {
 		if (through == AltosLib.MISSING)
 			return AltosLib.MISSING;
-		return AltosMag.convert_gauss(through);
+		return AltosIMU.convert_gauss(through, imu_type, AltosIMU.mag_through_axis(imu_type));
 	}
 
 	public AltosCalData() {
@@ -404,6 +428,14 @@ public class AltosCalData {
 			set_mma655x_inverted(config_data.mma655x_inverted());
 		} catch (AltosUnknownProduct up) {
 		}
+		try {
+			set_adxl375_inverted(config_data.adxl375_inverted());
+		} catch (AltosUnknownProduct up) {
+		}
+		try {
+			set_adxl375_axis(config_data.adxl375_axis());
+		} catch (AltosUnknownProduct up) {
+		}
 		set_pad_orientation(config_data.pad_orientation);
 	}
 }