altoslib: six-axis support for easy timer

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 7f8be40328faa7d848965d233727a08c90dcc05b..07c99cfc6cf2b114bbe69a0153fb330d17d92b18 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -37,6 +37,8 @@ public class AltosIMU implements Cloneable {
        public static final double      counts_per_g_mpu = 2048.0;
        public static final double      counts_per_g_bmx = 2048.0;
 
+       int                     pad_orientation;
+
        private static double counts_per_g(int imu_type) {
                switch (imu_type) {
                case imu_type_telemega_v1_v2:
@@ -112,10 +114,16 @@ public class AltosIMU implements Cloneable {
                return counts / counts_per_gauss(imu_type, imu_axis);
        }
 
-       public boolean parse_string(String line) {
+       public boolean parse_string(String line, AltosLink link) {
                if (!line.startsWith("Accel:"))
                        return false;
 
+               try {
+                       pad_orientation = link.config_data().pad_orientation;
+               } catch (Exception e) {
+                       return false;
+               }
+
                String[] items = line.split("\\s+");
 
                if (items.length >= 8) {
@@ -349,7 +357,7 @@ public class AltosIMU implements Cloneable {
                        if (line == null) {
                                throw new TimeoutException();
                        }
-                       if (parse_string(line))
+                       if (parse_string(line, link))
                                break;
                }
        }