altoslib: Support TeleMega v5.0

[fw/altos] / altoslib / AltosCalData.java

diff --git a/altoslib/AltosCalData.java b/altoslib/AltosCalData.java
index 8bca92291757a42c695985c23bb5337334c9b4e4..c90534a924e4159ea62cc0a1db5575e8493a67d0 100644 (file)
--- a/altoslib/AltosCalData.java
+++ b/altoslib/AltosCalData.java
@@ -312,12 +312,24 @@ public class AltosCalData {
                return temp_gps;
        }
 
                return temp_gps;
        }
 

-       public int      imu_type = AltosLib.MISSING;;
+       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_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) {
        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) {


@@ -329,15 +341,15 @@ public class AltosCalData {
        }
 
        public double accel_along(double counts) {
        }
 
        public double accel_along(double counts) {

-               return AltosIMU.convert_accel(counts - accel_zero_along, imu_type);
+               return AltosIMU.convert_accel(counts - accel_zero_along, imu_type, imu_model);

        }
 
        public double accel_across(double counts) {
        }
 
        public double accel_across(double counts) {

-               return AltosIMU.convert_accel(counts - accel_zero_across, imu_type);
+               return AltosIMU.convert_accel(counts - accel_zero_across, imu_type, imu_model);

        }
 
        public double accel_through(double counts) {
        }
 
        public double accel_through(double counts) {

-               return AltosIMU.convert_accel(counts - accel_zero_through, imu_type);
+               return AltosIMU.convert_accel(counts - accel_zero_through, imu_type, imu_model);

        }
 
        public double   gyro_zero_roll = AltosLib.MISSING;
        }
 
        public double   gyro_zero_roll = AltosLib.MISSING;


@@ -357,19 +369,19 @@ public class AltosCalData {
                if (gyro_zero_roll == AltosLib.MISSING || counts == AltosLib.MISSING)
                        return AltosLib.MISSING;
 
                if (gyro_zero_roll == AltosLib.MISSING || counts == AltosLib.MISSING)
                        return AltosLib.MISSING;
 

-               return AltosIMU.gyro_degrees_per_second(counts - gyro_zero_roll, imu_type);
+               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;
        }
 
        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, imu_type);
+               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;
        }
 
        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, imu_type);
+               return AltosIMU.gyro_degrees_per_second(counts - gyro_zero_yaw, imu_type, imu_model);

        }
 
        private double gyro_zero_overflow(double first) {
        }
 
        private double gyro_zero_overflow(double first) {


@@ -402,19 +414,19 @@ public class AltosCalData {
        public double mag_along(double along) {
                if (along == AltosLib.MISSING)
                        return AltosLib.MISSING;
        public double mag_along(double along) {
                if (along == AltosLib.MISSING)
                        return AltosLib.MISSING;

-               return AltosIMU.convert_gauss(along, imu_type, AltosIMU.mag_along_axis(imu_type));
+               return AltosMag.convert_gauss(along, imu_type, mag_model);

        }
 
        public double mag_across(double across) {
                if (across == AltosLib.MISSING)
                        return AltosLib.MISSING;
        }
 
        public double mag_across(double across) {
                if (across == AltosLib.MISSING)
                        return AltosLib.MISSING;

-               return AltosIMU.convert_gauss(across, imu_type, AltosIMU.mag_across_axis(imu_type));
+               return AltosMag.convert_gauss(across, imu_type, mag_model);

        }
 
        public double mag_through(double through) {
                if (through == AltosLib.MISSING)
                        return AltosLib.MISSING;
        }
 
        public double mag_through(double through) {
                if (through == AltosLib.MISSING)
                        return AltosLib.MISSING;

-               return AltosIMU.convert_gauss(through, imu_type, AltosIMU.mag_through_axis(imu_type));
+               return AltosMag.convert_gauss(through, imu_type, mag_model);

        }
 
        public AltosCalData() {
        }
 
        public AltosCalData() {