altoslib: Compute orientation from eeprom data files

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index ecc02f15b5d2dda6e7b8c62be7027eff2984e7dd..b434e02e415d6f77f912d9571b6f2aaaf03461b7 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -3,7 +3,8 @@
  *
  * 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
@@ -20,7 +21,7 @@ package org.altusmetrum.altoslib_11;
 import java.util.concurrent.*;
 import java.io.*;
 
-public class AltosIMU implements Cloneable, AltosHashable, AltosJsonable {
+public class AltosIMU implements Cloneable {
        public int              accel_along;
        public int              accel_across;
        public int              accel_through;
@@ -32,13 +33,15 @@ public class AltosIMU implements Cloneable, AltosHashable, AltosJsonable {
        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;
+       /* In radians */
+       public static final double      GYRO_FULLSCALE_DEGREES = 2000.0;
+       public static final double      GYRO_COUNTS = 32767.0;
 
-       public static double convert_gyro(double counts) {
-               return 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) {
@@ -71,12 +74,18 @@ public class AltosIMU implements Cloneable, AltosHashable, AltosJsonable {
                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) {
                }
        }
@@ -115,66 +124,4 @@ public class AltosIMU implements Cloneable, AltosHashable, AltosJsonable {
                                break;
                }
        }
-
-       public AltosIMU (AltosHashSet h) {
-               this();
-
-               accel_along = h.getInt("accel_along", accel_along);
-               accel_across = h.getInt("accel_across", accel_across);
-               accel_through = h.getInt("accel_through", accel_through);
-
-               gyro_roll = h.getInt("gyro_roll", gyro_roll);
-               gyro_pitch = h.getInt("gyro_pitch", gyro_pitch);
-               gyro_yaw = h.getInt("gyro_yaw", gyro_yaw);
-       }
-
-       public AltosIMU (AltosJson j) {
-               this();
-
-               accel_along = j.get_int("accel_along", accel_along);
-               accel_across = j.get_int("accel_across", accel_across);
-               accel_through = j.get_int("accel_through", accel_through);
-
-               gyro_roll = j.get_int("gyro_roll", gyro_roll);
-               gyro_pitch = j.get_int("gyro_pitch", gyro_pitch);
-               gyro_yaw = j.get_int("gyro_yaw", gyro_yaw);
-       }
-
-       static public AltosIMU fromHashSet(AltosHashSet h, AltosIMU def) {
-               if (h == null)
-                       return def;
-               return new AltosIMU(h);
-       }
-
-       static public AltosIMU fromJson(AltosJson j, AltosIMU def) {
-               if (j == null)
-                       return def;
-               return new AltosIMU(j);
-       }
-
-       public AltosHashSet hashSet() {
-               AltosHashSet    h = new AltosHashSet();
-
-               h.putInt("accel_along", accel_along);
-               h.putInt("accel_across", accel_across);
-               h.putInt("accel_through", accel_through);
-
-               h.putInt("gyro_roll", gyro_roll);
-               h.putInt("gyro_pitch", gyro_pitch);
-               h.putInt("gyro_yaw", gyro_yaw);
-               return h;
-       }
-
-       public AltosJson json() {
-               AltosJson       j = new AltosJson();
-
-               j.put("accel_along", accel_along);
-               j.put("accel_across", accel_across);
-               j.put("accel_through", accel_through);
-
-               j.put("gyro_roll", gyro_roll);
-               j.put("gyro_pitch", gyro_pitch);
-               j.put("gyro_yaw", gyro_yaw);
-               return j;
-       }
 }