X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=e66005f2b92f474cd68f2b2ce9442fc09a958074;hb=356cc251c15bb0bf7474882c3b0821589b588e40;hp=87b9f08bedb58360decd8fa2c44ea14ca85da5be;hpb=76b288f8d02e0a48f04de9455a2dd0b77e48bd63;p=fw%2Faltos

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 87b9f08b..e66005f2 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -36,6 +36,7 @@ public class AltosIMU implements Cloneable {
 
 	public static final double	counts_per_g_mpu = 2048.0;
 	public static final double	counts_per_g_bmx = 2048.0;
+	public static final double	counts_per_g_adxl = 20.5;
 
 	private static double counts_per_g(int imu_type) {
 		switch (imu_type) {
@@ -45,6 +46,9 @@ public class AltosIMU implements Cloneable {
 		case imu_type_easymega_v2:
 			return counts_per_g_mpu;
 		case  imu_type_telemega_v4:
+		case imu_type_easytimer_v1:
+			return counts_per_g_bmx;
+		case imu_type_easymotor_v2:
 			return counts_per_g_bmx;
 		default:
 			return AltosLib.MISSING;
@@ -69,7 +73,8 @@ public class AltosIMU implements Cloneable {
 		case imu_type_easymega_v1:
 		case imu_type_easymega_v2:
 			return counts_per_degree_mpu;
-		case  imu_type_telemega_v4:
+		case imu_type_telemega_v4:
+		case imu_type_easytimer_v1:
 			return counts_per_degree_bmx;
 		default:
 			return AltosLib.MISSING;
@@ -99,6 +104,7 @@ public class AltosIMU implements Cloneable {
 		case imu_type_easymega_v2:
 			return counts_per_gauss_mpu;
 		case imu_type_telemega_v4:
+		case imu_type_easytimer_v1:
 			return 100.0;
 		default:
 			return AltosLib.MISSING;
@@ -156,6 +162,10 @@ public class AltosIMU implements Cloneable {
 	public static final int imu_type_easymega_v1 = 3;	/* MPU6000 */
 	public static final int imu_type_easymega_v2 = 4;	/* MPU9250 */
 
+	public static final int imu_type_easytimer_v1 = 5;	/* BMX160 */
+
+	public static final int imu_type_easymotor_v2 = 6;	/* ADXL375 (accel only) */
+
 	private int accel_across(int imu_type) {
 		switch (imu_type) {
 		case imu_type_telemega_v1_v2:
@@ -164,8 +174,11 @@ public class AltosIMU implements Cloneable {
 			return accel_x;
 		case imu_type_easymega_v2:
 			return -accel_y;
-		case  imu_type_telemega_v4:
+		case imu_type_telemega_v4:
+		case imu_type_easytimer_v1:
 			return -accel_y;
+		case imu_type_easymotor_v2:
+			return accel_y;
 		default:
 			return AltosLib.MISSING;
 		}
@@ -179,6 +192,9 @@ public class AltosIMU implements Cloneable {
 			return accel_y;
 		case imu_type_easymega_v2:
 		case imu_type_telemega_v4:
+		case imu_type_easytimer_v1:
+			return accel_x;
+		case imu_type_easymotor_v2:
 			return accel_x;
 		default:
 			return AltosLib.MISSING;
@@ -197,6 +213,7 @@ public class AltosIMU implements Cloneable {
 			return gyro_y;
 		case imu_type_easymega_v2:
 		case imu_type_telemega_v4:
+		case imu_type_easytimer_v1:
 			return gyro_x;
 		default:
 			return AltosLib.MISSING;
@@ -212,6 +229,7 @@ public class AltosIMU implements Cloneable {
 		case imu_type_easymega_v2:
 			return -gyro_y;
 		case imu_type_telemega_v4:
+		case imu_type_easytimer_v1:
 			return -gyro_y;
 		default:
 			return AltosLib.MISSING;
@@ -228,8 +246,9 @@ public class AltosIMU implements Cloneable {
 		case imu_type_telemega_v3:
 		case imu_type_easymega_v1:
 			return imu_axis_x;
-		case imu_type_telemega_v4:
 		case imu_type_easymega_v2:
+		case imu_type_telemega_v4:
+		case imu_type_easytimer_v1:
 			return imu_axis_y;
 		default:
 			return AltosLib.MISSING;
@@ -245,6 +264,7 @@ public class AltosIMU implements Cloneable {
 		case imu_type_easymega_v2:
 			return -mag_y;
 		case imu_type_telemega_v4:
+		case imu_type_easytimer_v1:
 			return mag_y;
 		default:
 			return AltosLib.MISSING;
@@ -259,6 +279,7 @@ public class AltosIMU implements Cloneable {
 			return imu_axis_y;
 		case imu_type_easymega_v2:
 		case imu_type_telemega_v4:
+		case imu_type_easytimer_v1:
 			return imu_axis_x;
 		default:
 			return AltosLib.MISSING;
@@ -273,6 +294,7 @@ public class AltosIMU implements Cloneable {
 			return mag_y;
 		case imu_type_easymega_v2:
 		case imu_type_telemega_v4:
+		case imu_type_easytimer_v1:
 			return mag_x;
 		default:
 			return AltosLib.MISSING;
@@ -295,9 +317,11 @@ public class AltosIMU implements Cloneable {
 			cal_data.set_imu_type(imu_type);
 
 			if (imu != null) {
-				listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
-						  cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
-						  cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
+				if (imu.gyro_x != AltosLib.MISSING) {
+					listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
+							  cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
+							  cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
+				}
 				listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
 							  cal_data.accel_across(imu.accel_across(imu_type)),
 							  cal_data.accel_through(imu.accel_through(imu_type)));