/* * Copyright © 2011 Keith Packard * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License along * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ package org.altusmetrum.altoslib_12; public class AltosTelemetryMegaSensor extends AltosTelemetryStandard { int orient() { return int8(5); } int accel() { return int16(6); } int pres() { return int32(8); } int temp() { return int16(12); } int accel_x() { return int16(14); } int accel_y() { return int16(16); } int accel_z() { return int16(18); } int gyro_x() { return int16(20); } int gyro_y() { return int16(22); } int gyro_z() { return int16(24); } int mag_x() { return int16(26); } int mag_z() { return int16(28); } int mag_y() { return int16(30); } public AltosTelemetryMegaSensor(int[] bytes) throws AltosCRCException { super(bytes); } 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()); /* XXX we have no calibration data for these values */ if (cal_data.accel_zero_along == AltosLib.MISSING) cal_data.set_accel_zero(0, 0, 0); if (cal_data.gyro_zero_roll == AltosLib.MISSING) cal_data.set_gyro_zero(0, 0, 0); int accel_along = accel_y(); int accel_across = accel_x(); int accel_through = accel_z(); int gyro_roll = gyro_y(); int gyro_pitch = gyro_x(); int gyro_yaw = gyro_z(); int mag_along = mag_y(); int mag_across = mag_x(); int mag_through = mag_z(); listener.set_accel(cal_data.accel_along(accel_along), cal_data.accel_across(accel_across), cal_data.accel_through(accel_through)); listener.set_gyro(cal_data.gyro_roll(gyro_roll), cal_data.gyro_pitch(gyro_pitch), cal_data.gyro_yaw(gyro_yaw)); listener.set_mag(cal_data.mag_along(mag_along), cal_data.mag_across(mag_across), cal_data.mag_through(mag_through)); } }