X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosCalData.java;h=c90534a924e4159ea62cc0a1db5575e8493a67d0;hb=681638032041efcb05b9623e2a0332ca4e2d0958;hp=c3d79250a6e54cb23e25a2fb870e988f16dccce5;hpb=1e4b8674d874a190eca1a98a397aaf0a9d15bda1;p=fw%2Faltos

diff --git a/altoslib/AltosCalData.java b/altoslib/AltosCalData.java
index c3d79250..c90534a9 100644
--- a/altoslib/AltosCalData.java
+++ b/altoslib/AltosCalData.java
@@ -12,7 +12,7 @@
  * General Public License for more details.
  */
 
-package org.altusmetrum.altoslib_13;
+package org.altusmetrum.altoslib_14;
 
 /*
  * Calibration and other data needed to construct 'real' values from various data
@@ -120,6 +120,13 @@ public class AltosCalData {
 			this.ground_accel = ground_accel;
 	}
 
+	public double		ground_motor_pressure = AltosLib.MISSING;
+
+	public void set_ground_motor_pressure(double ground_motor_pressure) {
+		if (ground_motor_pressure != AltosLib.MISSING)
+			this.ground_motor_pressure = ground_motor_pressure;
+	}
+
 	/* Raw acceleration value */
 	public double		accel = AltosLib.MISSING;
 
@@ -156,8 +163,6 @@ public class AltosCalData {
 	public double acceleration(double sensor) {
 		double accel;
 		accel = AltosConvert.acceleration_from_sensor(sensor, accel_plus_g, accel_minus_g, ground_accel);
-		System.out.printf("acceleration %g (+ %g - %g g %g) -> %g\n",
-				  sensor, accel_plus_g, accel_minus_g, ground_accel, accel);
 		return accel;
 	}
 
@@ -249,6 +254,10 @@ 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();
@@ -303,6 +312,24 @@ public class AltosCalData {
 		return temp_gps;
 	}
 
+	public int	imu_type = AltosLib.MISSING;
+
+	public int	imu_model = AltosLib.MISSING;
+
+	public int	mag_model = AltosLib.MISSING;
+
+	public void set_imu_type(int imu_type) {
+		this.imu_type = imu_type;
+	}
+
+	public void set_imu_model(int imu_model) {
+		this.imu_model = imu_model;
+	}
+
+	public void set_mag_model(int mag_model) {
+		this.mag_model = mag_model;
+	}
+
 	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) {
@@ -314,18 +341,20 @@ 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, imu_model);
 	}
 
 	public double accel_across(double counts) {
-		return AltosIMU.convert_accel(counts - accel_zero_across);
+		return AltosIMU.convert_accel(counts - accel_zero_across, imu_type, imu_model);
 	}
 
 	public double accel_through(double counts) {
-		return AltosIMU.convert_accel(counts - accel_zero_through);
+		return AltosIMU.convert_accel(counts - accel_zero_through, imu_type, imu_model);
 	}
 
-	public double	gyro_zero_roll,	gyro_zero_pitch, gyro_zero_yaw;
+	public double	gyro_zero_roll = AltosLib.MISSING;
+	public double	gyro_zero_pitch = AltosLib.MISSING;
+	public double	gyro_zero_yaw = AltosLib.MISSING;
 
 	public void set_gyro_zero(double roll, double pitch, double yaw) {
 		if (roll != AltosLib.MISSING) {
@@ -340,19 +369,19 @@ 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, imu_model);
 	}
 
 	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, imu_model);
 	}
 
 	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, imu_model);
 	}
 
 	private double gyro_zero_overflow(double first) {
@@ -385,19 +414,19 @@ public class AltosCalData {
 	public double mag_along(double along) {
 		if (along == AltosLib.MISSING)
 			return AltosLib.MISSING;
-		return AltosMag.convert_gauss(along);
+		return AltosMag.convert_gauss(along, imu_type, mag_model);
 	}
 
 	public double mag_across(double across) {
 		if (across == AltosLib.MISSING)
 			return AltosLib.MISSING;
-		return AltosMag.convert_gauss(across);
+		return AltosMag.convert_gauss(across, imu_type, mag_model);
 	}
 
 	public double mag_through(double through) {
 		if (through == AltosLib.MISSING)
 			return AltosLib.MISSING;
-		return AltosMag.convert_gauss(through);
+		return AltosMag.convert_gauss(through, imu_type, mag_model);
 	}
 
 	public AltosCalData() {