2 * Copyright © 2011 Keith Packard <keithp@keithp.com>
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; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
19 package org.altusmetrum.altoslib_11;
21 public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
22 int orient() { return int8(5); }
24 int accel() { return int16(6); }
25 int pres() { return int32(8); }
26 int temp() { return int16(12); }
28 int accel_x() { return int16(14); }
29 int accel_y() { return int16(16); }
30 int accel_z() { return int16(18); }
32 int gyro_x() { return int16(20); }
33 int gyro_y() { return int16(22); }
34 int gyro_z() { return int16(24); }
36 int mag_x() { return int16(26); }
37 int mag_y() { return int16(28); }
38 int mag_z() { return int16(30); }
40 public AltosTelemetryMegaSensor(int[] bytes) throws AltosCRCException {
44 public void update_state(AltosState state) {
45 super.update_state(state);
47 state.set_accel(accel());
48 state.set_pressure(pres());
49 state.set_temperature(temp() / 100.0);
51 state.set_orient(orient());
53 state.set_imu(new AltosIMU(accel_y(), /* along */
54 accel_x(), /* across */
55 accel_z(), /* through */
57 gyro_x(), /* across */
58 gyro_z())); /* through */
60 state.set_mag(new AltosMag(mag_x(), mag_y(), mag_z()));