altoslib: Correct sign of telemega v4 pitch

[fw/altos] / altoslib / AltosEepromRecordMega.java

diff --git a/altoslib/AltosEepromRecordMega.java b/altoslib/AltosEepromRecordMega.java
index ce9dbc109e4955c40766c484b738e1d51aa947f4..168b352c652a8a67707a45bb5bb6c516568ea7c4 100644 (file)
--- a/altoslib/AltosEepromRecordMega.java
+++ b/altoslib/AltosEepromRecordMega.java
@@ -33,6 +33,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                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);
@@ -45,6 +46,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                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);
@@ -57,6 +59,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                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);
@@ -82,6 +85,22 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
        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:
@@ -89,6 +108,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                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;
@@ -102,6 +122,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                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;
@@ -120,6 +141,8 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                        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;
                }
@@ -132,6 +155,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                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;
@@ -150,6 +174,8 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                        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;
                }
@@ -162,6 +188,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                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;
@@ -212,14 +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);