X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosTelemetryMegaSensor.java;h=749f6bbd30fe9e41bfd4803e4480368ee42695a7;hb=76c5e6bf7ecc30ae77a9744a4af26dca3dc46254;hp=396bdb16eddfe9aef965d3d6a12b1b23f7446b6f;hpb=f26cfe417c6977cf1e7e75a4f050e25f64d41859;p=fw%2Faltos

diff --git a/altoslib/AltosTelemetryMegaSensor.java b/altoslib/AltosTelemetryMegaSensor.java
index 396bdb16..749f6bbd 100644
--- a/altoslib/AltosTelemetryMegaSensor.java
+++ b/altoslib/AltosTelemetryMegaSensor.java
@@ -16,7 +16,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_11;
+package org.altusmetrum.altoslib_13;
 
 public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
 	int	orient() { return int8(5); }
@@ -34,21 +34,38 @@ public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
 	int	gyro_z() { return int16(24); }
 
 	int	mag_x() { return int16(26); }
-	int	mag_y() { return int16(28); }
-	int	mag_z() { return int16(30); }
+	int	mag_z() { return int16(28); }
+	int	mag_y() { return int16(30); }
 
-	public AltosTelemetryMegaSensor(int[] bytes) throws AltosCRCException {
+	int imu_type;
+
+	public AltosTelemetryMegaSensor(int[] bytes, int imu_type) throws AltosCRCException {
 		super(bytes);
+		switch (imu_type) {
+		case AltosIMU.imu_type_telemega_v1_v2:
+		case AltosIMU.imu_type_telemega_v3:
+			if (serial() < 3000)
+				imu_type = AltosIMU.imu_type_telemega_v1_v2;
+			else
+				imu_type = AltosIMU.imu_type_telemega_v3;
+			break;
+		default:
+			break;
+		}
+		this.imu_type = imu_type;
 	}
 
-	public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
-		super.provide_data(listener, cal_data);
+	public void provide_data(AltosDataListener listener) {
+		super.provide_data(listener);
+
+		AltosCalData cal_data = listener.cal_data();
 
 		listener.set_acceleration(cal_data.acceleration(accel()));
 		listener.set_pressure(pres());
 		listener.set_temperature(temp() / 100.0);
 
 		listener.set_orient(orient());
+		cal_data.set_imu_type(imu_type);
 
 		/* XXX we have no calibration data for these values */
 
@@ -64,8 +81,8 @@ public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
 		int	gyro_pitch = gyro_x();
 		int	gyro_yaw = gyro_z();
 
-		int	mag_along = mag_x();
-		int	mag_across = mag_y();
+		int	mag_along = mag_y();
+		int	mag_across = mag_x();
 		int	mag_through = mag_z();
 
 		listener.set_accel(cal_data.accel_along(accel_along),