altoslib: Do data analysis on raw values rather than AltosState

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index f6cadf1d13a0f4276a15156e9f99dc9535c7cfa4..20a2a413da4f9499a7f1ce052dd52f882440b0c9 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -33,7 +33,7 @@ public class AltosIMU implements Cloneable {
        public static final double      counts_per_g = 2048.0;
 
        public static double convert_accel(double counts) {
-               return counts / counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
+               return counts / counts_per_g * AltosConvert.gravity;
        }
 
        public static final double      counts_per_degsec = 16.4;
@@ -72,12 +72,18 @@ public class AltosIMU implements Cloneable {
                return n;
        }
 
-       static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
+       static public void provide_data(AltosDataListener listener, AltosLink link, AltosCalData cal_data) throws InterruptedException {
                try {
                        AltosIMU        imu = new AltosIMU(link);
 
-                       if (imu != null)
-                               state.set_imu(imu);
+                       if (imu != null) {
+                               listener.set_accel(cal_data.accel_along(imu.accel_along),
+                                                  cal_data.accel_across(imu.accel_across),
+                                                  cal_data.accel_through(imu.accel_through));
+                               listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll),
+                                                 cal_data.gyro_pitch(imu.gyro_pitch),
+                                                 cal_data.gyro_yaw(imu.gyro_yaw));
+                       }
                } catch (TimeoutException te) {
                }
        }