altoslib: Compute tilt angle from eeprom data

[fw/altos] / altoslib / AltosEepromHeader.java

diff --git a/altoslib/AltosEepromHeader.java b/altoslib/AltosEepromHeader.java
index 7103065526aa693283f38587ee474cae75791c61..0414c37e39fc30cc4ea5dc5f54a4b0900058aa1f 100644 (file)
--- a/altoslib/AltosEepromHeader.java
+++ b/altoslib/AltosEepromHeader.java
@@ -25,7 +25,7 @@ public class AltosEepromHeader extends AltosEeprom {
 
        public int      cmd;
        public String   data;
-       public int      config_a, config_b;
+       public int      config_a, config_b, config_c;
        public boolean  last;
        public boolean  valid;
 
@@ -93,6 +93,9 @@ public class AltosEepromHeader extends AltosEeprom {
                        state.make_baro();
                        state.baro.crc = config_a;
                        break;
+               case AltosLib.AO_LOG_IMU_CAL:
+                       state.set_accel_zero(config_a, config_b, config_c);
+                       break;
                case AltosLib.AO_LOG_SOFTWARE_VERSION:
                        state.set_firmware_version(data);
                        break;
@@ -100,7 +103,10 @@ public class AltosEepromHeader extends AltosEeprom {
                case AltosLib.AO_LOG_APOGEE_LOCKOUT:
                case AltosLib.AO_LOG_RADIO_RATE:
                case AltosLib.AO_LOG_IGNITE_MODE:
+                       break;
                case AltosLib.AO_LOG_PAD_ORIENTATION:
+                       state.set_pad_orientation(config_a);
+                       break;
                case AltosLib.AO_LOG_RADIO_ENABLE:
                case AltosLib.AO_LOG_AES_KEY:
                case AltosLib.AO_LOG_APRS:
@@ -177,11 +183,17 @@ public class AltosEepromHeader extends AltosEeprom {
                case AltosLib.AO_LOG_BARO_CRC:
                        out.printf ("# Baro crc: %d\n", config_a);
                        break;
+               case AltosLib.AO_LOG_IMU_CAL:
+                       out.printf ("# IMU cal: %d %d %d\n", config_a, config_b, config_c);
+                       break;
                case AltosLib.AO_LOG_FREQUENCY:
                case AltosLib.AO_LOG_APOGEE_LOCKOUT:
                case AltosLib.AO_LOG_RADIO_RATE:
                case AltosLib.AO_LOG_IGNITE_MODE:
+                       break;
                case AltosLib.AO_LOG_PAD_ORIENTATION:
+                       out.printf("# Pad orientation: %d\n", config_a);
+                       break;
                case AltosLib.AO_LOG_RADIO_ENABLE:
                case AltosLib.AO_LOG_AES_KEY:
                case AltosLib.AO_LOG_APRS:
@@ -273,6 +285,14 @@ public class AltosEepromHeader extends AltosEeprom {
                                        cmd = AltosLib.AO_LOG_INVALID;
                                        data = tokens[2];
                                }
+                       } else if (tokens[0].equals("IMU") && tokens[1].equals("cal")) {
+                               cmd = AltosLib.AO_LOG_IMU_CAL;
+                               config_a = Integer.parseInt(tokens[3]);
+                               config_b = Integer.parseInt(tokens[5]);
+                               config_c = Integer.parseInt(tokens[7]);
+                       } else if (tokens[0].equals("Pad") && tokens[1].equals("orientation:")) {
+                               cmd = AltosLib.AO_LOG_PAD_ORIENTATION;
+                               config_a = Integer.parseInt(tokens[2]);
                        } else
                                valid = false;
                } catch (Exception e) {