X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosEepromMega.java;h=aaff2410ff527588686c723e1efdac26007e7566;hb=656d8fe17532ca6c7d1d43996f187df2f14f5395;hp=5d5f3fef20d6af91fa8f83085a8c9366d0a1da8d;hpb=bd440afc2a6e37b74fffcf1b977e149485095316;p=fw%2Faltos

diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java
index 5d5f3fef..aaff2410 100644
--- a/altoslib/AltosEepromMega.java
+++ b/altoslib/AltosEepromMega.java
@@ -26,6 +26,8 @@ public class AltosEepromMega extends AltosEeprom {
 
 	public static final int max_sat = 12;
 
+	private int log_format;
+
 	public int record_length() { return record_length; }
 
 	/* AO_LOG_FLIGHT elements */
@@ -35,9 +37,36 @@ public class AltosEepromMega extends AltosEeprom {
 	public int ground_accel_along() { return data16(8); }
 	public int ground_accel_across() { return data16(10); }
 	public int ground_accel_through() { return data16(12); }
-	public int ground_roll() { return data16(14); }
-	public int ground_pitch() { return data16(16); }
-	public int ground_yaw() { return data16(18); }
+	public int ground_roll() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+			return data32(16);
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return data16(14);
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+	public int ground_pitch() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+			return data32(20);
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return data16(16);
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+	public int ground_yaw() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+			return data32(24);
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return data16(18);
+		default:
+			return AltosLib.MISSING;
+		}
+	}
 
 	/* AO_LOG_STATE elements */
 	public int state() { return data16(0); }
@@ -67,7 +96,7 @@ public class AltosEepromMega extends AltosEeprom {
 	/* AO_LOG_GPS_TIME elements */
 	public int latitude() { return data32(0); }
 	public int longitude() { return data32(4); }
-	public int altitude() { return data16(8); }
+	public int altitude_low() { return data16(8); }
 	public int hour() { return data8(10); }
 	public int minute() { return data8(11); }
 	public int second() { return data8(12); }
@@ -82,13 +111,15 @@ public class AltosEepromMega extends AltosEeprom {
 	public int hdop() { return data8(23); }
 	public int vdop() { return data8(24); }
 	public int mode() { return data8(25); }
+	public int altitude_high() { return data16(26); }
 
 	/* AO_LOG_GPS_SAT elements */
 	public int nsat() { return data16(0); }
 	public int svid(int n) { return data8(2 + n * 2); }
 	public int c_n(int n) { return data8(2 + n * 2 + 1); }
 
-	public AltosEepromMega (AltosEepromChunk chunk, int start) throws ParseException {
+	public AltosEepromMega (AltosEepromChunk chunk, int start, int log_format) throws ParseException {
+		this.log_format = log_format;
 		parse_chunk(chunk, start);
 	}
 
@@ -168,7 +199,11 @@ public class AltosEepromMega extends AltosEeprom {
 			gps = state.make_temp_gps(false);
 			gps.lat = latitude() / 1e7;
 			gps.lon = longitude() / 1e7;
-			gps.alt = altitude();
+
+			if (state.altitude_32())
+				gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
+			else
+				gps.alt = altitude_low();
 
 			gps.hour = hour();
 			gps.minute = minute();
@@ -187,8 +222,21 @@ public class AltosEepromMega extends AltosEeprom {
 			gps.ground_speed = ground_speed() * 1.0e-2;
 			gps.course = course() * 2;
 			gps.climb_rate = climb_rate() * 1.0e-2;
-			gps.hdop = hdop();
-			gps.vdop = vdop();
+			if (state.compare_version("1.4.9") >= 0) {
+				gps.pdop = pdop() / 10.0;
+				gps.hdop = hdop() / 10.0;
+				gps.vdop = vdop() / 10.0;
+			} else {
+				gps.pdop = pdop() / 100.0;
+				if (gps.pdop < 0.8)
+					gps.pdop += 2.56;
+				gps.hdop = hdop() / 100.0;
+				if (gps.hdop < 0.8)
+					gps.hdop += 2.56;
+				gps.vdop = vdop() / 100.0;
+				if (gps.vdop < 0.8)
+					gps.vdop += 2.56;
+			}
 			break;
 		case AltosLib.AO_LOG_GPS_SAT:
 			state.set_tick(tick);
@@ -203,11 +251,12 @@ public class AltosEepromMega extends AltosEeprom {
 		}
 	}
 
-	public AltosEepromMega (String line) {
+	public AltosEepromMega (String line, int log_format) {
+		this.log_format = log_format;
 		parse_string(line);
 	}
 
-	static public LinkedList<AltosEeprom> read(FileInputStream input) {
+	static public LinkedList<AltosEeprom> read(FileInputStream input, int log_format) {
 		LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>();
 
 		for (;;) {
@@ -216,7 +265,7 @@ public class AltosEepromMega extends AltosEeprom {
 				if (line == null)
 					break;
 				try {
-					AltosEepromMega mega = new AltosEepromMega(line);
+					AltosEepromMega mega = new AltosEepromMega(line, log_format);
 					if (mega.cmd != AltosLib.AO_LOG_INVALID)
 						megas.add(mega);
 				} catch (Exception e) {