altoslib: Support TeleMega v5.0

[fw/altos] / altoslib / AltosEepromRecordMega.java

diff --git a/altoslib/AltosEepromRecordMega.java b/altoslib/AltosEepromRecordMega.java
index b858e7098d7f8907938fd8da40c3ccc7e04bc827..57de0a4137406a38b9ca54f9fedd10d8ecc27b1f 100644 (file)
--- a/altoslib/AltosEepromRecordMega.java
+++ b/altoslib/AltosEepromRecordMega.java
@@ -34,6 +34,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
                case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
                        return data32(16);
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
                        return data16(14);
@@ -47,6 +48,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
                case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
                        return data32(20);
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
                        return data16(16);
@@ -60,6 +62,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
                case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
                        return data32(24);
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
                        return data16(18);
@@ -85,6 +88,17 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
        private int mag_z() { return data16(22); }
        private int mag_y() { return data16(24); }
 
+       /* normalized log data */
+       private int norm_accel_along() { return data16(8); }
+       private int norm_accel_across() { return data16(10); }
+       private int norm_accel_through() { return data16(12); }
+       private int norm_gyro_roll() { return data16(14); }
+       private int norm_gyro_pitch() { return data16(16); }
+       private int norm_gyro_yaw() { return data16(18); }
+       private int norm_mag_along() { return data16(20); }
+       private int norm_mag_across() { return data16(22); }
+       private int norm_mag_through() { return data16(24); }
+
        private int imu_type() {
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
@@ -101,7 +115,35 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                }
        }
 
+       private int imu_model() {
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
+                       return AltosLib.model_mpu6000;
+               }
+               return AltosLib.MISSING;
+       }
+
+       private boolean sensor_normalized() {
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
+                       return true;
+               }
+               return false;
+       }
+
+       private int mag_model() {
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
+                       return AltosLib.model_mmc5983;
+               }
+               return AltosLib.MISSING;
+       }
+
        private int accel_across() {
+               if (sensor_normalized()) {
+                       return norm_accel_across();
+               }
+
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
@@ -116,6 +158,10 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
        }
 
        private int accel_along(){
+               if (sensor_normalized()) {
+                       return norm_accel_along();
+               }
+
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
@@ -130,10 +176,18 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
        }
 
        private int accel_through() {
+               if (sensor_normalized()) {
+                       return norm_accel_through();
+               }
+
                return accel_z();
        }
 
        private int gyro_pitch() {
+               if (sensor_normalized()) {
+                       return norm_gyro_pitch();
+               }
+
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
@@ -149,6 +203,10 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
        }
 
        private int gyro_roll() {
+               if (sensor_normalized()) {
+                       return norm_gyro_roll();
+               }
+
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
@@ -163,10 +221,18 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
        }
 
        private int gyro_yaw() {
+               if (sensor_normalized()) {
+                       return norm_gyro_yaw();
+               }
+
                return gyro_z();
        }
 
        private int mag_across() {
+               if (sensor_normalized()) {
+                       return norm_mag_across();
+               }
+
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
@@ -182,6 +248,10 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
        }
 
        private int mag_along() {
+               if (sensor_normalized()) {
+                       return norm_mag_along();
+               }
+
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
@@ -196,6 +266,10 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
        }
 
        private int mag_through() {
+               if (sensor_normalized()) {
+                       return norm_mag_through();
+               }
+
                return mag_z();
        }
 
@@ -240,6 +314,8 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                AltosGPS        gps;
 
                cal_data.set_imu_type(imu_type());
+               cal_data.set_imu_model(imu_model());
+               cal_data.set_mag_model(mag_model());
 
                switch (cmd()) {
                case AltosLib.AO_LOG_FLIGHT: