altoslib: Do data analysis on raw values rather than AltosState

[fw/altos] / altoslib / AltosTelemetryMegaSensor.java

diff --git a/altoslib/AltosTelemetryMegaSensor.java b/altoslib/AltosTelemetryMegaSensor.java
index bf560e9257abfe9116d310bf4dd77811f28bf674..396bdb16eddfe9aef965d3d6a12b1b23f7446b6f 100644 (file)
--- a/altoslib/AltosTelemetryMegaSensor.java
+++ b/altoslib/AltosTelemetryMegaSensor.java
@@ -41,22 +41,41 @@ public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
                super(bytes);
        }
 
-       public void update_state(AltosState state) {
-               super.update_state(state);
+       public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
+               super.provide_data(listener, cal_data);
 
-               state.set_accel(accel());
-               state.set_pressure(pres());
-               state.set_temperature(temp() / 100.0);
+               listener.set_acceleration(cal_data.acceleration(accel()));
+               listener.set_pressure(pres());
+               listener.set_temperature(temp() / 100.0);
 
-               state.set_orient(orient());
+               listener.set_orient(orient());
 
-               state.set_imu(new AltosIMU(accel_y(),   /* along */
-                                          accel_x(),   /* across */
-                                          accel_z(),   /* through */
-                                          gyro_y(),    /* along */
-                                          gyro_x(),    /* across */
-                                          gyro_z()));  /* through */
+               /* XXX we have no calibration data for these values */
 
-               state.set_mag(new AltosMag(mag_x(), mag_y(), mag_z()));
+               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_y();
+               int     accel_across = accel_x();
+               int     accel_through = accel_z();
+               int     gyro_roll = gyro_y();
+               int     gyro_pitch = gyro_x();
+               int     gyro_yaw = gyro_z();
+
+               int     mag_along = mag_x();
+               int     mag_across = mag_y();
+               int     mag_through = mag_z();
+
+               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));
        }
 }