* 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;
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);
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);
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);
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 */
private int svid(int n) { return data8(2 + n * 2); }
private int c_n(int n) { return data8(2 + n * 2 + 1); }
- public void update_state(AltosState state) {
- super.update_state(state);
- AltosGPS gps;
+ public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
+ super.provide_data(listener, cal_data);
- /* Flush any pending GPS changes */
- if (state.gps_pending) {
- switch (cmd()) {
- case AltosLib.AO_LOG_GPS_LAT:
- case AltosLib.AO_LOG_GPS_LON:
- case AltosLib.AO_LOG_GPS_ALT:
- case AltosLib.AO_LOG_GPS_SAT:
- case AltosLib.AO_LOG_GPS_DATE:
- break;
- default:
- state.set_temp_gps();
- break;
- }
- }
+ AltosGPS gps;
switch (cmd()) {
case AltosLib.AO_LOG_FLIGHT:
- state.set_flight(flight());
- state.set_ground_accel(ground_accel());
- state.set_ground_pressure(ground_pres());
- state.set_accel_ground(ground_accel_along(),
- ground_accel_across(),
- ground_accel_through());
- state.set_gyro_zero(ground_roll() / 512.0,
- ground_pitch() / 512.0,
- ground_yaw() / 512.0);
+ 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());
+ cal_data.set_gyro_zero(ground_roll() / 512.0,
+ ground_pitch() / 512.0,
+ ground_yaw() / 512.0);
break;
case AltosLib.AO_LOG_STATE:
- state.set_state(state());
+ listener.set_state(state());
break;
case AltosLib.AO_LOG_SENSOR:
- state.set_ms5607(pres(), temp());
-
- AltosIMU imu = new AltosIMU(accel_y(), /* along */
- accel_x(), /* across */
- accel_z(), /* through */
- gyro_y(), /* roll */
- gyro_x(), /* pitch */
- gyro_z()); /* yaw */
+ AltosConfigData config_data = eeprom.config_data();
+ AltosPresTemp pt = config_data.ms5607().pres_temp(pres(), temp());;
+ listener.set_pressure(pt.pres);
+ listener.set_temperature(pt.temp);
+
+ 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_along();
+ int mag_across = mag_across();
+ int mag_through = mag_through();
if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
- state.check_imu_wrap(imu);
+ cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);
+
+ listener.set_accel(cal_data.accel_along(accel_along),
+ cal_data.accel_across(accel_across),
+ cal_data.accel_through(accel_through));
+ listener.set_gyro(cal_data.gyro_roll(gyro_roll),
+ cal_data.gyro_pitch(gyro_pitch),
+ cal_data.gyro_yaw(gyro_yaw));
+
+ listener.set_mag(cal_data.mag_along(mag_along),
+ cal_data.mag_across(mag_across),
+ cal_data.mag_through(mag_through));
- state.set_imu(imu);
- state.set_mag(new AltosMag(mag_x(),
- mag_y(),
- mag_z()));
+ final double lsb_per_g = 1920.0/105.5;
- state.set_accel(accel());
+ double acceleration = AltosConvert.acceleration_from_sensor(
+ accel(),
+ cal_data.ground_accel,
+ cal_data.ground_accel + 2 * lsb_per_g,
+ cal_data.ground_accel);
+ listener.set_acceleration(acceleration);
break;
case AltosLib.AO_LOG_TEMP_VOLT:
- state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
- state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
+ listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
+ listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
int nsense = nsense();
- state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
- state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
+ listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
+ listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
double voltages[] = new double[nsense-2];
for (int i = 0; i < nsense-2; i++)
voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
- state.set_ignitor_voltage(voltages);
- state.set_pyro_fired(pyro());
+ listener.set_igniter_voltage(voltages);
+ listener.set_pyro_fired(pyro());
break;
case AltosLib.AO_LOG_GPS_TIME:
- gps = state.make_temp_gps(false);
+ gps = listener.make_temp_gps(false);
gps.lat = latitude() / 1e7;
gps.lon = longitude() / 1e7;
- if (state.altitude_32())
+ if (config_data().altitude_32())
gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
else
gps.alt = altitude_low();
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) {
+ if (config_data().compare_version("1.4.9") >= 0) {
gps.pdop = pdop() / 10.0;
gps.hdop = hdop() / 10.0;
gps.vdop = vdop() / 10.0;
}
break;
case AltosLib.AO_LOG_GPS_SAT:
- gps = state.make_temp_gps(true);
+ gps = listener.make_temp_gps(true);
int n = nsat();
if (n > max_sat)
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);
}
}
projects / fw / altos / blobdiff