altoslib: Support TeleMega v5.0

[fw/altos] / altoslib / AltosTelemetryMegaNorm.java

diff --git a/altoslib/AltosTelemetryMegaNorm.java b/altoslib/AltosTelemetryMegaNorm.java
new file mode 100644 (file)
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+++ b/altoslib/AltosTelemetryMegaNorm.java
@@ -0,0 +1,90 @@
+/*
+ * Copyright © 2021 Keith Packard <keithp@keithp.com>
+ *
+ * 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; 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
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.altoslib_14;
+
+public class AltosTelemetryMegaNorm extends AltosTelemetryStandard {
+       int     orient() { return int8(5); }
+
+       int     accel() { return int16(6); }
+       int     pres() { return int32(8); }
+       int     temp() { return int16(12); }
+
+       int     accel_along() { return int16(14); }
+       int     accel_across() { return int16(16); }
+       int     accel_through() { return int16(18); }
+
+       int     gyro_roll() { return int16(20); }
+       int     gyro_pitch() { return int16(22); }
+       int     gyro_yaw() { return int16(24); }
+
+       int     mag_along() { return int16(26); }
+       int     mag_across() { return int16(28); }
+       int     mag_through() { return int16(30); }
+
+       int imu_model, mag_model;
+
+       public AltosTelemetryMegaNorm(int[] bytes, int imu_model, int mag_model) throws AltosCRCException {
+               super(bytes);
+               this.imu_model = imu_model;
+               this.mag_model = mag_model;
+       }
+
+       public void provide_data(AltosDataListener listener) {
+               super.provide_data(listener);
+
+               AltosCalData cal_data = listener.cal_data();
+
+               listener.set_acceleration(cal_data.acceleration(accel()));
+               listener.set_pressure(pres());
+               listener.set_temperature(temp() / 100.0);
+
+               listener.set_orient(orient());
+               cal_data.set_imu_model(imu_model);
+               cal_data.set_mag_model(mag_model);
+
+               /* XXX we have no calibration data for these values */
+
+               if (cal_data.accel_zero_along == AltosLib.MISSING)
+                       cal_data.set_accel_zero(0, 0, 0);
+               if (cal_data.gyro_zero_roll == AltosLib.MISSING)
+                       cal_data.set_gyro_zero(0, 0, 0);
+
+               int     accel_along = accel_along();
+               int     accel_across = accel_across();
+               int     accel_through = accel_through();
+
+               int     gyro_roll = gyro_roll();
+               int     gyro_pitch = gyro_pitch();
+               int     gyro_yaw = gyro_yaw();
+
+               int     mag_along = mag_along();
+               int     mag_across = mag_across();
+               int     mag_through = mag_through();
+
+               listener.set_accel(cal_data.accel_along(accel_along),
+                                  cal_data.accel_across(accel_across),
+                                  cal_data.accel_through(accel_through));
+               listener.set_gyro(cal_data.gyro_roll(gyro_roll),
+                                 cal_data.gyro_pitch(gyro_pitch),
+                                 cal_data.gyro_yaw(gyro_yaw));
+               listener.set_mag(cal_data.mag_along(mag_along),
+                                cal_data.mag_across(mag_across),
+                                cal_data.mag_through(mag_through));
+       }
+}