altoslib: Fetch correct mag along data for EasyMega v2

[fw/altos] / altoslib / AltosEepromRecordMega.java

diff --git a/altoslib/AltosEepromRecordMega.java b/altoslib/AltosEepromRecordMega.java
index 0abc3fe73865c64bae21ec23d5f39c0f0fee47e7..ce9dbc109e4955c40766c484b738e1d51aa947f4 100644 (file)
--- a/altoslib/AltosEepromRecordMega.java
+++ b/altoslib/AltosEepromRecordMega.java
@@ -12,7 +12,7 @@
  * General Public License for more details.
  */
 
-package org.altusmetrum.altoslib_11;
+package org.altusmetrum.altoslib_13;
 
 public class AltosEepromRecordMega extends AltosEepromRecord {
        public static final int record_length = 32;
@@ -31,6 +31,8 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
        private int ground_roll() {
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
                        return data32(16);
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
                        return data16(14);
@@ -41,6 +43,8 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
        private int ground_pitch() {
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
                        return data32(20);
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
                        return data16(16);
@@ -51,6 +55,8 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
        private int ground_yaw() {
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
                        return data32(24);
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
                        return data16(18);
@@ -73,8 +79,100 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
        private int gyro_y() { return data16(16); }
        private int gyro_z() { return data16(18); }
        private int mag_x() { return data16(20); }
-       private int mag_y() { return data16(22); }
-       private int mag_z() { return data16(24); }
+       private int mag_z() { return data16(22); }
+       private int mag_y() { return data16(24); }
+
+       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:
+                       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:
+                       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();
+               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:
+                       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();
+               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:
+                       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 */
@@ -135,16 +233,16 @@ 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_x();
-                       int     mag_across = mag_y();
-                       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);
@@ -161,11 +259,13 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                                         cal_data.mag_through(mag_through));
 
 
+                       final double lsb_per_g = 1920.0/105.5;
+
                        double acceleration = AltosConvert.acceleration_from_sensor(
                                accel(),
-                               config_data.accel_cal_plus,
-                               config_data.accel_cal_minus,
-                               AltosLib.MISSING);
+                               cal_data.ground_accel,
+                               cal_data.ground_accel + 2 * lsb_per_g,
+                               cal_data.ground_accel);
 
                        listener.set_acceleration(acceleration);
                        break;
@@ -186,7 +286,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                        listener.set_pyro_fired(pyro());
                        break;
                case AltosLib.AO_LOG_GPS_TIME:
-                       gps = cal_data.make_temp_gps(tick(), false);
+                       gps = listener.make_temp_gps(false);
                        gps.lat = latitude() / 1e7;
                        gps.lon = longitude() / 1e7;
 
@@ -229,7 +329,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                        }
                        break;
                case AltosLib.AO_LOG_GPS_SAT:
-                       gps = cal_data.make_temp_gps(tick(), true);
+                       gps = listener.make_temp_gps(true);
 
                        int n = nsat();
                        if (n > max_sat)
@@ -247,12 +347,12 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                return new AltosEepromRecordMega(eeprom, s);
        }
 
-       public AltosEepromRecordMega(AltosEepromNew eeprom, int start) {
+       public AltosEepromRecordMega(AltosEeprom eeprom, int start) {
                super(eeprom, start, record_length);
                log_format = eeprom.config_data().log_format;
        }
 
-       public AltosEepromRecordMega(AltosEepromNew eeprom) {
+       public AltosEepromRecordMega(AltosEeprom eeprom) {
                this(eeprom, 0);
        }
 }