X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=df6c4ed36fbc08c7d2d77cdbe56f06886cdc7eeb;hb=2a4d741872449b5332f28e018fa3acc53ed7d891;hp=fe264d3c9f2203fd02aeb928ca5734d54f06d236;hpb=643c2fb03833d658320f476ef731bbb06fe3cc31;p=fw%2Faltos

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index fe264d3c..df6c4ed3 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -15,12 +15,12 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_7;
+package org.altusmetrum.altoslib_11;
 
 import java.util.concurrent.*;
 import java.io.*;
 
-public class AltosIMU implements Cloneable, Serializable {
+public class AltosIMU implements Cloneable, AltosHashable {
 	public int		accel_along;
 	public int		accel_across;
 	public int		accel_through;
@@ -29,13 +29,13 @@ public class AltosIMU implements Cloneable, Serializable {
 	public int		gyro_pitch;
 	public int		gyro_yaw;
 
-	public static double	counts_per_g = 2048.0;
+	public static final double	counts_per_g = 2048.0;
 
 	public static double convert_accel(double counts) {
 		return counts / counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
 	}
 
-	public static double	counts_per_degsec = 16.4;
+	public static final double	counts_per_degsec = 16.4;
 
 	public static double convert_gyro(double counts) {
 		return counts / counts_per_degsec;
@@ -115,4 +115,35 @@ public class AltosIMU implements Cloneable, Serializable {
 				break;
 		}
 	}
+
+	public AltosIMU (AltosHashSet h) {
+		this();
+
+		accel_along = h.getInt("accel_along", accel_along);
+		accel_across = h.getInt("accel_across", accel_across);
+		accel_through = h.getInt("accel_through", accel_through);
+
+		gyro_roll = h.getInt("gyro_roll", gyro_roll);
+		gyro_pitch = h.getInt("gyro_pitch", gyro_pitch);
+		gyro_yaw = h.getInt("gyro_yaw", gyro_yaw);
+	}
+
+	static public AltosIMU fromHashSet(AltosHashSet h, AltosIMU def) {
+		if (h == null)
+			return def;
+		return new AltosIMU(h);
+	}
+
+	public AltosHashSet hashSet() {
+		AltosHashSet	h = new AltosHashSet();
+
+		h.putInt("accel_along", accel_along);
+		h.putInt("accel_across", accel_across);
+		h.putInt("accel_through", accel_through);
+
+		h.putInt("gyro_roll", gyro_roll);
+		h.putInt("gyro_pitch", gyro_pitch);
+		h.putInt("gyro_yaw", gyro_yaw);
+		return h;
+	}
 }