X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosState.java;h=caa1cb4adeb30d8347ca2368a4c4d69f5ae978a4;hb=2a05849c3bf8c1617409237be48802dd6fc6255b;hp=d3929b8f7e047480ddcd02cef4eed0953863f26c;hpb=0f32d1a2e2fb5989d124189a7eb1156a00b0ad8f;p=fw%2Faltos

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index d3929b8f..caa1cb4a 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -22,8 +22,6 @@
 
 package org.altusmetrum.altoslib_11;
 
-import java.io.*;
-
 public class AltosState extends AltosDataListener {
 
 	public static final int set_position = 1;
@@ -43,8 +41,6 @@ public class AltosState extends AltosDataListener {
 	public int	rssi;
 	public int	status;
 
-	public double	time;
-
 	class AltosValue {
 		double	value;
 		double	prev_value;
@@ -288,7 +284,6 @@ public class AltosState extends AltosDataListener {
 		}
 	}
 
-	private int	state;
 	public boolean	landed;
 	public boolean	ascent;	/* going up? */
 	public boolean	boost;	/* under power */
@@ -506,23 +501,7 @@ public class AltosState extends AltosDataListener {
 		pressure.set(p, time);
 	}
 
-	class AltosForce extends AltosValue {
-		void set(double p, double time) {
-			super.set(p, time);
-		}
-
-		AltosForce() {
-			super();
-		}
-	}
-	private AltosForce	thrust;
-
-	public double thrust() {
-		return thrust.value();
-	}
-
 	public void set_thrust(double N) {
-		thrust.set(N, time);
 	}
 
 	public double baro_height() {
@@ -720,15 +699,8 @@ public class AltosState extends AltosDataListener {
 	public int	speak_tick;
 	public double	speak_altitude;
 
-	public String	callsign;
-	public String	firmware_version;
-
 	public double	ground_accel;
 
-	public int	log_format;
-	public int	log_space;
-	public String	product;
-
 	public AltosCompanion	companion;
 
 	public int	pyro_fired;
@@ -756,7 +728,6 @@ public class AltosState extends AltosDataListener {
 		ground_pressure = new AltosGroundPressure();
 		altitude = new AltosAltitude();
 		pressure = new AltosPressure();
-		thrust = new AltosForce();
 		speed = new AltosSpeed();
 		acceleration = new AltosAccel();
 		orient = new AltosCValue();
@@ -786,8 +757,6 @@ public class AltosState extends AltosDataListener {
 		accel_ground_across = AltosLib.MISSING;
 		accel_ground_through = AltosLib.MISSING;
 
-		pad_orientation = AltosLib.MISSING;
-
 		set_npad(0);
 		ngps = 0;
 
@@ -810,15 +779,8 @@ public class AltosState extends AltosDataListener {
 		speak_tick = AltosLib.MISSING;
 		speak_altitude = AltosLib.MISSING;
 
-		callsign = null;
-		firmware_version = null;
-
 		ground_accel = AltosLib.MISSING;
 
-		log_format = AltosLib.MISSING;
-		log_space = AltosLib.MISSING;
-		product = null;
-
 		companion = null;
 
 		pyro_fired = 0;
@@ -937,16 +899,14 @@ public class AltosState extends AltosDataListener {
 	public AltosRotation	rotation;
 	public AltosRotation	ground_rotation;
 
-	public int pad_orientation;
-
 	public double	accel_ground_along, accel_ground_across, accel_ground_through;
 
 	void update_pad_rotation() {
-		if (pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
+		if (cal_data.pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
 			rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data.accel_zero_across),
 						     AltosIMU.convert_accel(accel_ground_through - cal_data.accel_zero_through),
 						     AltosIMU.convert_accel(accel_ground_along - cal_data.accel_zero_along),
-						     pad_orientation);
+						     cal_data.pad_orientation);
 			ground_rotation = rotation;
 			orient.set_computed(rotation.tilt(), time);
 		}
@@ -959,28 +919,17 @@ public class AltosState extends AltosDataListener {
 		update_pad_rotation();
 	}
 
-	public void set_pad_orientation(int pad_orientation) {
-		this.pad_orientation = pad_orientation;
-		update_pad_rotation();
-	}
-
 	public double	last_imu_time;
 
-	private double radians(double degrees) {
-		if (degrees == AltosLib.MISSING)
-			return AltosLib.MISSING;
-		return degrees * Math.PI / 180.0;
-	}
-
 	private void update_orient() {
 		if (last_imu_time != AltosLib.MISSING) {
 			double	t = time - last_imu_time;
 
-			double	pitch = radians(gyro_pitch());
-			double	yaw = radians(gyro_yaw());
-			double	roll = radians(gyro_roll());
+			double	pitch = AltosConvert.degrees_to_radians(gyro_pitch());
+			double	yaw = AltosConvert.degrees_to_radians(gyro_yaw());
+			double	roll = AltosConvert.degrees_to_radians(gyro_roll());
 
-			if (t > 0 & pitch != AltosLib.MISSING && rotation != null) {
+			if (t > 0 && pitch != AltosLib.MISSING && rotation != null) {
 				rotation.rotate(t, pitch, yaw, roll);
 				orient.set_computed(rotation.tilt(), time);
 			}
@@ -992,8 +941,8 @@ public class AltosState extends AltosDataListener {
 
 	public void set_gyro(double roll, double pitch, double yaw) {
 		gyro_roll = roll;
-		gyro_pitch = roll;
-		gyro_roll = roll;
+		gyro_pitch = pitch;
+		gyro_roll = yaw;
 		update_orient();
 	}
 
@@ -1108,8 +1057,15 @@ public class AltosState extends AltosDataListener {
 		this.pyro_fired = fired;
 	}
 
+	public AltosState() {
+		Thread.dumpStack();
+		init();
+	}
+
 	public AltosState (AltosCalData cal_data) {
 		super(cal_data);
+		if (cal_data == null)
+			Thread.dumpStack();
 		init();
 	}
 }