altoslib: Convert IMU and Mag sensor values to useful units

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 6d88ccae9a45f6a45926444528db9debc04993b4..e6e70401eabbbd53a701ef3e9424a66ab3b3c0fe 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -20,13 +20,25 @@ package org.altusmetrum.altoslib_2;
 import java.util.concurrent.*;
 
 public class AltosIMU implements Cloneable {
-       public int              accel_x;
-       public int              accel_y;
-       public int              accel_z;
+       public double           accel_x;
+       public double           accel_y;
+       public double           accel_z;
 
-       public int              gyro_x;
-       public int              gyro_y;
-       public int              gyro_z;
+       public double           gyro_x;
+       public double           gyro_y;
+       public double           gyro_z;
+
+       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    counts_per_degsec = 16.4;
+
+       public static double convert_gyro(int counts) {
+               return (double) counts / counts_per_degsec;
+       }
 
        public boolean parse_string(String line) {
                if (!line.startsWith("Accel:"))
@@ -35,12 +47,12 @@ public class AltosIMU implements Cloneable {
                String[] items = line.split("\\s+");
 
                if (items.length >= 8) {
-                       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]);
+                       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]));
                }
                return true;
        }