altosui: Fetch RF calibration value for TBT v4.0 units from web

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index dee28a92319eb8532d5d2556180ae51fa827509d..114dfcf908624a5905d04ee8b546bb143295ca72 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -16,19 +16,23 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_12;
+package org.altusmetrum.altoslib_13;
 
 import java.util.concurrent.*;
 import java.io.*;
 
 public class AltosIMU implements Cloneable {
-       public int              accel_x;
-       public int              accel_y;
-       public int              accel_z;
+       public int              accel_x = AltosLib.MISSING;
+       public int              accel_y = AltosLib.MISSING;
+       public int              accel_z = AltosLib.MISSING;
 
-       public int              gyro_x;
-       public int              gyro_y;
-       public int              gyro_z;
+       public int              gyro_x = AltosLib.MISSING;
+       public int              gyro_y = AltosLib.MISSING;
+       public int              gyro_z = AltosLib.MISSING;
+
+       public int              mag_x = AltosLib.MISSING;
+       public int              mag_y = AltosLib.MISSING;
+       public int              mag_z = AltosLib.MISSING;
 
        public static final double      counts_per_g = 2048.0;
 
@@ -58,6 +62,11 @@ public class AltosIMU implements Cloneable {
                        gyro_y = Integer.parseInt(items[6]);
                        gyro_z = Integer.parseInt(items[7]);
                }
+               if (items.length >= 12) {
+                       mag_x = Integer.parseInt(items[9]);
+                       mag_y = Integer.parseInt(items[10]);
+                       mag_z = Integer.parseInt(items[11]);
+               }
                return true;
        }
 
@@ -71,6 +80,11 @@ public class AltosIMU implements Cloneable {
                n.gyro_x = gyro_x;
                n.gyro_y = gyro_y;
                n.gyro_z = gyro_z;
+
+               n.mag_x = mag_x;
+               n.mag_y = mag_y;
+               n.mag_z = mag_z;
+
                return n;
        }
 
@@ -83,9 +97,14 @@ public class AltosIMU implements Cloneable {
                                listener.set_gyro(cal_data.gyro_roll(imu.gyro_y),
                                                  cal_data.gyro_pitch(imu.gyro_x),
                                                  cal_data.gyro_yaw(imu.gyro_z));
-                               listener.set_accel_ground(cal_data.accel_along(imu.accel_y),
-                                                         cal_data.accel_across(imu.accel_x),
-                                                         cal_data.accel_through(imu.accel_z));
+                               listener.set_accel_ground(imu.accel_y,
+                                                         imu.accel_x,
+                                                         imu.accel_z);
+                               if (imu.mag_x != AltosLib.MISSING) {
+                                       listener.set_mag(cal_data.mag_along(imu.mag_y),
+                                                        cal_data.mag_across(imu.mag_x),
+                                                        cal_data.mag_through(imu.mag_z));
+                               }
                        }
                } catch (TimeoutException te) {
                }
@@ -99,6 +118,10 @@ public class AltosIMU implements Cloneable {
                gyro_x = AltosLib.MISSING;
                gyro_y = AltosLib.MISSING;
                gyro_z = AltosLib.MISSING;
+
+               mag_x = AltosLib.MISSING;
+               mag_y = AltosLib.MISSING;
+               mag_z = AltosLib.MISSING;
        }
 
        public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {