altoslib: Set time in state for KML output correctly

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 89d7def4a3bb2066b5ff1adbdd364107dd575ad3..dee28a92319eb8532d5d2556180ae51fa827509d 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
@@ -15,41 +16,32 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_12;
 
 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;
+       public int              accel_y;
+       public int              accel_z;
 
-       public double           gyro_x;
-       public double           gyro_y;
-       public double           gyro_z;
+       public int              gyro_x;
+       public int              gyro_y;
+       public int              gyro_z;
 
-/*
- * 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 static final double      counts_per_g = 2048.0;
 
-       public static int       counts_per_g = 2048;
-
-       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) {
@@ -59,12 +51,12 @@ public class AltosIMU implements Cloneable {
                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]);
                }
                return true;
        }
@@ -82,12 +74,19 @@ 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) 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_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));
+                       }
                } catch (TimeoutException te) {
                }
        }