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   1 /*
   2  * Copyright © 2011 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 package org.altusmetrum.altoslib_9;
  19
  20 public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
  21         int     accel;
  22         int     pres;
  23         int     temp;
  24
  25         int     accel_x;
  26         int     accel_y;
  27         int     accel_z;
  28
  29         int     gyro_x;
  30         int     gyro_y;
  31         int     gyro_z;
  32
  33         int     mag_x;
  34         int     mag_y;
  35         int     mag_z;
  36
  37         int     orient;
  38
  39         public AltosTelemetryMegaSensor(int[] bytes) {
  40                 super(bytes);
  41
  42                 orient        = int8(5);
  43                 accel         = int16(6);
  44                 pres          = int32(8);
  45                 temp          = int16(12);
  46
  47                 accel_x       = int16(14);
  48                 accel_y       = int16(16);
  49                 accel_z       = int16(18);
  50
  51                 gyro_x        = int16(20);
  52                 gyro_y        = int16(22);
  53                 gyro_z        = int16(24);
  54
  55                 mag_x         = int16(26);
  56                 mag_y         = int16(28);
  57                 mag_z         = int16(30);
  58         }
  59
  60         public void update_state(AltosState state) {
  61                 super.update_state(state);
  62
  63                 state.set_accel(accel);
  64                 state.set_pressure(pres);
  65                 state.set_temperature(temp / 100.0);
  66
  67                 state.set_orient(orient);
  68
  69                 state.set_imu(new AltosIMU(accel_y,     /* along */
  70                                            accel_x,     /* across */
  71                                            accel_z,     /* through */
  72                                            gyro_y,      /* along */
  73                                            gyro_x,      /* across */
  74                                            gyro_z));    /* through */
  75
  76                 state.set_mag(new AltosMag(mag_x, mag_y, mag_z));
  77         }
  78 }