altoslib: Correct monitor idle IMU data for EasyMega v2

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index dee28a92319eb8532d5d2556180ae51fa827509d..8adf710e028a03f8e401ec4c48de5c1e9138a805 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;
        }
 
@@ -71,21 +80,112 @@ 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;
        }
 
-       static public void provide_data(AltosDataListener listener, AltosLink link) 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);
                        AltosCalData    cal_data = listener.cal_data();
 
                        if (imu != null) {
-                               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_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) {
                }
@@ -99,6 +199,10 @@ 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 {