ao-tools: Add TMv2 and Tgps log formats to cc.h

[fw/altos] / altoslib / AltosEepromMega.java

diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java
index 7a4ee52d10680e1e61c3289bb029a12e079b444c..adaa7f3197f84a1a0d1a5a9b99518fed9bcfa53d 100644 (file)
--- a/altoslib/AltosEepromMega.java
+++ b/altoslib/AltosEepromMega.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_2;
+package org.altusmetrum.altoslib_5;
 
 import java.io.*;
 import java.util.*;
@@ -24,13 +24,20 @@ import java.text.*;
 public class AltosEepromMega extends AltosEeprom {
        public static final int record_length = 32;
 
+       public static final int max_sat = 12;
+
        public int record_length() { return record_length; }
 
        /* AO_LOG_FLIGHT elements */
        public int flight() { return data16(0); }
        public int ground_accel() { return data16(2); }
        public int ground_pres() { return data32(4); }
-       public int ground_temp() { return data32(8); }
+       public int ground_accel_along() { return data16(8); }
+       public int ground_accel_across() { return data16(10); }
+       public int ground_accel_through() { return data16(12); }
+       public int ground_roll() { return data16(14); }
+       public int ground_pitch() { return data16(16); }
+       public int ground_yaw() { return data16(18); }
 
        /* AO_LOG_STATE elements */
        public int state() { return data16(0); }
@@ -60,7 +67,7 @@ public class AltosEepromMega extends AltosEeprom {
        /* AO_LOG_GPS_TIME elements */
        public int latitude() { return data32(0); }
        public int longitude() { return data32(4); }
-       public int altitude() { return data16(8); }
+       public int altitude_low() { return data16(8); }
        public int hour() { return data8(10); }
        public int minute() { return data8(11); }
        public int second() { return data8(12); }
@@ -68,7 +75,15 @@ public class AltosEepromMega extends AltosEeprom {
        public int year() { return data8(14); }
        public int month() { return data8(15); }
        public int day() { return data8(16); }
-       
+       public int course() { return data8(17); }
+       public int ground_speed() { return data16(18); }
+       public int climb_rate() { return data16(20); }
+       public int pdop() { return data8(22); }
+       public int hdop() { return data8(23); }
+       public int vdop() { return data8(24); }
+       public int mode() { return data8(25); }
+       public int altitude_high() { return data16(26); }
+
        /* AO_LOG_GPS_SAT elements */
        public int nsat() { return data16(0); }
        public int svid(int n) { return data8(2 + n * 2); }
@@ -104,7 +119,6 @@ public class AltosEepromMega extends AltosEeprom {
                        state.set_flight(flight());
                        state.set_ground_accel(ground_accel());
                        state.set_ground_pressure(ground_pres());
-                       state.set_temperature(ground_temp() / 100.0);
                        break;
                case AltosLib.AO_LOG_STATE:
                        state.set_tick(tick);
@@ -115,19 +129,19 @@ public class AltosEepromMega extends AltosEeprom {
                        state.set_ms5607(pres(), temp());
 
                        AltosIMU imu = new AltosIMU();
-                       imu.accel_x = accel_x();
-                       imu.accel_y = accel_y();
-                       imu.accel_z = accel_z();
+                       imu.accel_x = AltosIMU.convert_accel(accel_x());
+                       imu.accel_y = AltosIMU.convert_accel(accel_y());
+                       imu.accel_z = AltosIMU.convert_accel(accel_z());
 
-                       imu.gyro_x = gyro_x();
-                       imu.gyro_y = gyro_y();
-                       imu.gyro_z = gyro_z();
+                       imu.gyro_x = AltosIMU.convert_gyro(gyro_x());
+                       imu.gyro_y = AltosIMU.convert_gyro(gyro_y());
+                       imu.gyro_z = AltosIMU.convert_gyro(gyro_z());
                        state.imu = imu;
 
                        AltosMag mag = new AltosMag();
-                       mag.x = mag_x();
-                       mag.y = mag_y();
-                       mag.z = mag_z();
+                       mag.x = AltosMag.convert_gauss(mag_x());
+                       mag.y = AltosMag.convert_gauss(mag_y());
+                       mag.z = AltosMag.convert_gauss(mag_z());
 
                        state.mag = mag;
 
@@ -148,13 +162,18 @@ public class AltosEepromMega extends AltosEeprom {
                                voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
 
                        state.set_ignitor_voltage(voltages);
+                       state.set_pyro_fired(pyro());
                        break;
                case AltosLib.AO_LOG_GPS_TIME:
                        state.set_tick(tick);
                        gps = state.make_temp_gps(false);
                        gps.lat = latitude() / 1e7;
                        gps.lon = longitude() / 1e7;
-                       gps.alt = altitude();
+
+                       if (state.altitude_32())
+                               gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
+                       else
+                               gps.alt = altitude_low();
 
                        gps.hour = hour();
                        gps.minute = minute();
@@ -170,12 +189,32 @@ public class AltosEepromMega extends AltosEeprom {
                        gps.year = 2000 + year();
                        gps.month = month();
                        gps.day = day();
+                       gps.ground_speed = ground_speed() * 1.0e-2;
+                       gps.course = course() * 2;
+                       gps.climb_rate = climb_rate() * 1.0e-2;
+                       if (state.compare_version("1.4.9") >= 0) {
+                               gps.pdop = pdop() / 10.0;
+                               gps.hdop = hdop() / 10.0;
+                               gps.vdop = vdop() / 10.0;
+                       } else {
+                               gps.pdop = pdop() / 100.0;
+                               if (gps.pdop < 0.8)
+                                       gps.pdop += 2.56;
+                               gps.hdop = hdop() / 100.0;
+                               if (gps.hdop < 0.8)
+                                       gps.hdop += 2.56;
+                               gps.vdop = vdop() / 100.0;
+                               if (gps.vdop < 0.8)
+                                       gps.vdop += 2.56;
+                       }
                        break;
                case AltosLib.AO_LOG_GPS_SAT:
                        state.set_tick(tick);
                        gps = state.make_temp_gps(true);
 
                        int n = nsat();
+                       if (n > max_sat)
+                               n = max_sat;
                        for (int i = 0; i < n; i++)
                                gps.add_sat(svid(i), c_n(i));
                        break;