altos/test: Adjust CRC error rate after FEC fix

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index b4ba5a563e08c3b3f768dd9cad3b837eae4249db..01ecc1616630fbaca656ee5918a1404c4770cc2d 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -73,11 +73,13 @@ public class AltosIMU implements Cloneable {
                case imu_type_easymega_v1:
                case imu_type_easymega_v2:
                        return counts_per_g_mpu;
-               case  imu_type_telemega_v4:
+               case imu_type_telemega_v4:
                case imu_type_easytimer_v1:
                        return counts_per_g_bmx;
                case imu_type_easymotor_v2:
                        return counts_per_g_adxl;
+               case imu_type_easytimer_v2:
+                       return counts_per_g_bmi088;
                }
 
                return AltosLib.MISSING;
@@ -251,6 +253,8 @@ public class AltosIMU implements Cloneable {
 
        public static final int imu_type_easymotor_v2 = 6;      /* ADXL375 (accel only) */
 
+       public static final int imu_type_easytimer_v2 = 7;      /* BMI088 */
+
        private int accel_across(int imu_type) {
 
                if (accel_across != AltosLib.MISSING)
@@ -274,8 +278,10 @@ public class AltosIMU implements Cloneable {
        }
 
        private int accel_along(int imu_type) {
-               if (accel_along != AltosLib.MISSING)
+               if (accel_along != AltosLib.MISSING) {
+                       System.out.printf("accel along %d\n", accel_along);
                        return accel_along;
+               }
 
                switch (imu_type) {
                case imu_type_telemega_v1_v2:
@@ -391,6 +397,7 @@ public class AltosIMU implements Cloneable {
        private static boolean is_primary_accel(int imu_type) {
                switch (imu_type) {
                case imu_type_easytimer_v1:
+               case imu_type_easytimer_v2:
                        return true;
                default:
                        return false;
@@ -402,6 +409,7 @@ public class AltosIMU implements Cloneable {
                        AltosIMU        imu = new AltosIMU(link);
                        AltosCalData    cal_data = listener.cal_data();
 
+                       System.out.printf("imu_model %d mag_model %d\n", imu.imu_model, imu.mag_model);
                        if (imu_type != AltosLib.MISSING)
                                cal_data.set_imu_type(imu_type);
                        if (imu != null) {