first cut at turnon scripts for EasyTimer v2

[fw/altos] / altoslib / AltosCalData.java

diff --git a/altoslib/AltosCalData.java b/altoslib/AltosCalData.java
index c3d79250a6e54cb23e25a2fb870e988f16dccce5..c90534a924e4159ea62cc0a1db5575e8493a67d0 100644 (file)
--- a/altoslib/AltosCalData.java
+++ b/altoslib/AltosCalData.java
@@ -12,7 +12,7 @@
  * General Public License for more details.
  */
 
-package org.altusmetrum.altoslib_13;
+package org.altusmetrum.altoslib_14;
 
 /*
  * Calibration and other data needed to construct 'real' values from various data
@@ -120,6 +120,13 @@ public class AltosCalData {
                        this.ground_accel = ground_accel;
        }
 
+       public double           ground_motor_pressure = AltosLib.MISSING;
+
+       public void set_ground_motor_pressure(double ground_motor_pressure) {
+               if (ground_motor_pressure != AltosLib.MISSING)
+                       this.ground_motor_pressure = ground_motor_pressure;
+       }
+
        /* Raw acceleration value */
        public double           accel = AltosLib.MISSING;
 
@@ -156,8 +163,6 @@ public class AltosCalData {
        public double acceleration(double sensor) {
                double accel;
                accel = AltosConvert.acceleration_from_sensor(sensor, accel_plus_g, accel_minus_g, ground_accel);
-               System.out.printf("acceleration %g (+ %g - %g g %g) -> %g\n",
-                                 sensor, accel_plus_g, accel_minus_g, ground_accel, accel);
                return accel;
        }
 
@@ -249,6 +254,10 @@ public class AltosCalData {
 
        public int              state = AltosLib.MISSING;
 
+       public String state_name() {
+               return AltosLib.state_name(state);
+       }
+
        public void set_state(int state) {
                if (state >= AltosLib.ao_flight_boost && boost_tick == AltosLib.MISSING)
                        set_boost_tick();
@@ -303,6 +312,24 @@ public class AltosCalData {
                return temp_gps;
        }
 
+       public int      imu_type = AltosLib.MISSING;
+
+       public int      imu_model = AltosLib.MISSING;
+
+       public int      mag_model = AltosLib.MISSING;
+
+       public void set_imu_type(int imu_type) {
+               this.imu_type = imu_type;
+       }
+
+       public void set_imu_model(int imu_model) {
+               this.imu_model = imu_model;
+       }
+
+       public void set_mag_model(int mag_model) {
+               this.mag_model = mag_model;
+       }
+
        public double   accel_zero_along, accel_zero_across, accel_zero_through;
 
        public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
@@ -314,18 +341,20 @@ public class AltosCalData {
        }
 
        public double accel_along(double counts) {
-               return AltosIMU.convert_accel(counts - accel_zero_along);
+               return AltosIMU.convert_accel(counts - accel_zero_along, imu_type, imu_model);
        }
 
        public double accel_across(double counts) {
-               return AltosIMU.convert_accel(counts - accel_zero_across);
+               return AltosIMU.convert_accel(counts - accel_zero_across, imu_type, imu_model);
        }
 
        public double accel_through(double counts) {
-               return AltosIMU.convert_accel(counts - accel_zero_through);
+               return AltosIMU.convert_accel(counts - accel_zero_through, imu_type, imu_model);
        }
 
-       public double   gyro_zero_roll, gyro_zero_pitch, gyro_zero_yaw;
+       public double   gyro_zero_roll = AltosLib.MISSING;
+       public double   gyro_zero_pitch = AltosLib.MISSING;
+       public double   gyro_zero_yaw = AltosLib.MISSING;
 
        public void set_gyro_zero(double roll, double pitch, double yaw) {
                if (roll != AltosLib.MISSING) {
@@ -340,19 +369,19 @@ public class AltosCalData {
                if (gyro_zero_roll == AltosLib.MISSING || counts == AltosLib.MISSING)
                        return AltosLib.MISSING;
 
-               return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_roll);
+               return AltosIMU.gyro_degrees_per_second(counts - gyro_zero_roll, imu_type, imu_model);
        }
 
        public double gyro_pitch(double counts) {
                if (gyro_zero_pitch == AltosLib.MISSING || counts == AltosLib.MISSING)
                        return AltosLib.MISSING;
-               return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_pitch);
+               return AltosIMU.gyro_degrees_per_second(counts - gyro_zero_pitch, imu_type, imu_model);
        }
 
        public double gyro_yaw(double counts) {
                if (gyro_zero_yaw == AltosLib.MISSING || counts == AltosLib.MISSING)
                        return AltosLib.MISSING;
-               return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_yaw);
+               return AltosIMU.gyro_degrees_per_second(counts - gyro_zero_yaw, imu_type, imu_model);
        }
 
        private double gyro_zero_overflow(double first) {
@@ -385,19 +414,19 @@ public class AltosCalData {
        public double mag_along(double along) {
                if (along == AltosLib.MISSING)
                        return AltosLib.MISSING;
-               return AltosMag.convert_gauss(along);
+               return AltosMag.convert_gauss(along, imu_type, mag_model);
        }
 
        public double mag_across(double across) {
                if (across == AltosLib.MISSING)
                        return AltosLib.MISSING;
-               return AltosMag.convert_gauss(across);
+               return AltosMag.convert_gauss(across, imu_type, mag_model);
        }
 
        public double mag_through(double through) {
                if (through == AltosLib.MISSING)
                        return AltosLib.MISSING;
-               return AltosMag.convert_gauss(through);
+               return AltosMag.convert_gauss(through, imu_type, mag_model);
        }
 
        public AltosCalData() {