projects / fw / altos / blobdiff
? search:
summary | shortlog | log | commit | commitdiff | tree
raw | inline | side by side
altoslib: Correct sign of telemega v4 pitch
[fw/altos] / altoslib / AltosEepromRecordMega.java
diff --git a/altoslib/AltosEepromRecordMega.java b/altoslib/AltosEepromRecordMega.java
index 6b28c50a42e67a935ad7ab723153bb8c996c3a80..168b352c652a8a67707a45bb5bb6c516568ea7c4 100644 (file)
--- a/altoslib/AltosEepromRecordMega.java
+++ b/altoslib/AltosEepromRecordMega.java
@@ -32,6 +32,8 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
                        return data32(16);
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
                        return data16(14);
@@ -43,6 +45,8 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
                        return data32(20);
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
                        return data16(16);
@@ -54,6 +58,8 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
                        return data32(24);
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
                        return data16(18);
@@ -78,6 +84,122 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
        private int mag_x() { return data16(20); }
        private int mag_z() { return data16(22); }
        private int mag_y() { return data16(24); }
+
+       private int imu_type() {
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+                       return AltosIMU.imu_type_telemega_v1_v2;
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+                       return AltosIMU.imu_type_telemega_v3;
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+                       return AltosIMU.imu_type_easymega_v2;
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+                       return AltosIMU.imu_type_telemega_v4;
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       private int accel_across() {
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+                       return accel_x();
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+                       return -accel_y();
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       private int accel_along(){
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+                       return accel_y();
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+                       return accel_x();
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       private int accel_through() {
+               return accel_z();
+       }
+
+       private int gyro_pitch() {
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+                       return gyro_x();
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+                       return -gyro_y();
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+                       return -gyro_y();
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       private int gyro_roll() {
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+                       return gyro_y();
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+                       return gyro_x();
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       private int gyro_yaw() {
+               return gyro_z();
+       }
+
+       private int mag_across() {
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+                       return mag_x();
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+                       return -mag_y();
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+                       return mag_y();
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       private int mag_along() {
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+                       return mag_y();
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+                       return mag_x();
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       private int mag_through() {
+               return mag_z();
+       }
+
+
        private int accel() { return data16(26); }
 
        /* AO_LOG_TEMP_VOLT elements */
@@ -117,14 +239,16 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 
                AltosGPS        gps;
 
+               cal_data.set_imu_type(imu_type());
+
                switch (cmd()) {
                case AltosLib.AO_LOG_FLIGHT:
                        cal_data.set_flight(flight());
                        cal_data.set_ground_accel(ground_accel());
                        cal_data.set_ground_pressure(ground_pres());
-                       listener.set_accel_ground(ground_accel_along(),
-                                                 ground_accel_across(),
-                                                 ground_accel_through());
+                       listener.set_accel_ground(cal_data.accel_along(ground_accel_along()),
+                                                 cal_data.accel_across(ground_accel_across()),
+                                                 cal_data.accel_through(ground_accel_through()));
                        cal_data.set_gyro_zero(ground_roll() / 512.0,
                                               ground_pitch() / 512.0,
                                               ground_yaw() / 512.0);
@@ -138,16 +262,16 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                        listener.set_pressure(pt.pres);
                        listener.set_temperature(pt.temp);
 
-                       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     accel_along = accel_along();
+                       int     accel_across = accel_across();
+                       int     accel_through = accel_through();
+                       int     gyro_roll = gyro_roll();
+                       int     gyro_pitch = gyro_pitch();
+                       int     gyro_yaw = gyro_yaw();
 
-                       int     mag_along = mag_y();
-                       int     mag_across = mag_x();
-                       int     mag_through = mag_z();
+                       int     mag_along = mag_along();
+                       int     mag_across = mag_across();
+                       int     mag_through = mag_through();
 
                        if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
                                cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);
AltOS - the operating system for Altus Metrum products