*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_4;
+package org.altusmetrum.altoslib_13;
import java.util.concurrent.*;
+import java.io.*;
public class AltosIMU implements Cloneable {
- public double accel_x;
- public double accel_y;
- public double accel_z;
+ public int accel_x = AltosLib.MISSING;
+ public int accel_y = AltosLib.MISSING;
+ public int accel_z = AltosLib.MISSING;
- public double gyro_x;
- public double gyro_y;
- public double gyro_z;
+ public int gyro_x = AltosLib.MISSING;
+ public int gyro_y = AltosLib.MISSING;
+ public int gyro_z = AltosLib.MISSING;
-/*
- * XXX use ground measurements to adjust values
-
- public double ground_accel_x;
- public double ground_accel_y;
- public double ground_accel_z;
-
- public double ground_gyro_x;
- public double ground_gyro_y;
- public double ground_gyro_z;
-*/
+ public int mag_x = AltosLib.MISSING;
+ public int mag_y = AltosLib.MISSING;
+ public int mag_z = AltosLib.MISSING;
- public static int counts_per_g = 2048;
+ public static final double counts_per_g = 2048.0;
- public static double convert_accel(int counts) {
- return (double) counts / (double) counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
+ public static double convert_accel(double counts) {
+ return counts / counts_per_g * AltosConvert.gravity;
}
- public static double counts_per_degsec = 16.4;
+ /* In radians */
+ public static final double GYRO_FULLSCALE_DEGREES = 2000.0;
+ public static final double GYRO_COUNTS = 32767.0;
- public static double convert_gyro(int counts) {
- return (double) counts / counts_per_degsec;
+ public static double gyro_degrees_per_second(double counts, double cal) {
+ return (counts - cal) * GYRO_FULLSCALE_DEGREES / GYRO_COUNTS;
}
public boolean parse_string(String line) {
String[] items = line.split("\\s+");
if (items.length >= 8) {
- accel_x = convert_accel(Integer.parseInt(items[1]));
- accel_y = convert_accel(Integer.parseInt(items[2]));
- accel_z = convert_accel(Integer.parseInt(items[3]));
- gyro_x = convert_gyro(Integer.parseInt(items[5]));
- gyro_y = convert_gyro(Integer.parseInt(items[6]));
- gyro_z = convert_gyro(Integer.parseInt(items[7]));
+ accel_x = Integer.parseInt(items[1]);
+ accel_y = Integer.parseInt(items[2]);
+ accel_z = Integer.parseInt(items[3]);
+ gyro_x = Integer.parseInt(items[5]);
+ 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;
}
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;
}
- static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
+ public static final int orient_telemega = 0;
+ public static final int orient_easymega_v2 = 1;
+
+ private int accel_across(int orient) {
+ switch (orient) {
+ case orient_telemega:
+ return accel_x;
+ case orient_easymega_v2:
+ return -accel_y;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int accel_along(int orient) {
+ switch (orient) {
+ case orient_telemega:
+ return accel_y;
+ case orient_easymega_v2:
+ return accel_x;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int accel_through(int orient) {
+ return accel_z;
+ }
+
+ private int gyro_roll(int orient) {
+ switch (orient) {
+ case orient_telemega:
+ return gyro_y;
+ case orient_easymega_v2:
+ return gyro_x;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int gyro_pitch(int orient) {
+ switch (orient) {
+ case orient_telemega:
+ return gyro_x;
+ case orient_easymega_v2:
+ return -gyro_y;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int gyro_yaw(int orient) {
+ return gyro_z;
+ }
+
+ private int mag_across(int orient) {
+ switch (orient) {
+ case orient_telemega:
+ return mag_x;
+ case orient_easymega_v2:
+ return -mag_y;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int mag_along(int orient) {
+ switch (orient) {
+ case orient_telemega:
+ return mag_y;
+ case orient_easymega_v2:
+ return mag_x;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int mag_through(int orient) {
+ return mag_z;
+ }
+
+ static public void provide_data(AltosDataListener listener, AltosLink link, int orient) throws InterruptedException {
try {
AltosIMU imu = new AltosIMU(link);
-
- if (imu != null)
- state.set_imu(imu);
+ AltosCalData cal_data = listener.cal_data();
+
+ if (imu != null) {
+ listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(orient)),
+ cal_data.gyro_pitch(imu.gyro_pitch(orient)),
+ cal_data.gyro_yaw(imu.gyro_yaw(orient)));
+ listener.set_accel_ground(imu.accel_along(orient),
+ imu.accel_across(orient),
+ imu.accel_through(orient));
+ if (imu.mag_x != AltosLib.MISSING) {
+ listener.set_mag(cal_data.mag_along(imu.mag_along(orient)),
+ cal_data.mag_across(imu.mag_across(orient)),
+ cal_data.mag_through(imu.mag_through(orient)));
+ }
+ }
} catch (TimeoutException te) {
}
}
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 {
projects / fw / altos / blobdiff