altoslib: Fetch 'orient' value from Mega Sensor packet

[fw/altos] / altoslib / AltosTelemetryMegaSensor.java

diff --git a/altoslib/AltosTelemetryMegaSensor.java b/altoslib/AltosTelemetryMegaSensor.java
index 23b67af8b03e8a37ba82a172b28b0ae54625d874..3c4f1f8f6771f98535bb45b44d5498cb0c23b2f1 100644 (file)
--- a/altoslib/AltosTelemetryMegaSensor.java
+++ b/altoslib/AltosTelemetryMegaSensor.java
@@ -34,9 +34,12 @@ public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
        int     mag_y;
        int     mag_z;
 
+       int     orient;
+
        public AltosTelemetryMegaSensor(int[] bytes) {
                super(bytes);
 
+               orient        = int8(5);
                accel         = int16(6);
                pres          = int32(8);
                temp          = int16(12);
@@ -61,23 +64,25 @@ public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
                state.set_pressure(pres);
                state.set_temperature(temp / 100.0);
 
+               state.set_orient(orient);
+
                AltosIMU imu = new AltosIMU();
                
-               imu.accel_x = accel_x;
-               imu.accel_y = accel_y;
-               imu.accel_z = accel_z;
+               imu.accel_x = AltosIMU.convert_accel(accel_x);
+               imu.accel_y = AltosIMU.convert_accel(accel_y);
+               imu.accel_z = AltosIMU.convert_accel(accel_z);
 
-               imu.gyro_x = gyro_x;
-               imu.gyro_y = gyro_y;
-               imu.gyro_z = gyro_z;
+               imu.gyro_x = AltosIMU.convert_gyro(gyro_x);
+               imu.gyro_y = AltosIMU.convert_gyro(gyro_y);
+               imu.gyro_z = AltosIMU.convert_gyro(gyro_z);
 
                state.imu = imu;
 
                AltosMag mag = new AltosMag();
 
-               mag.x = mag_x;
-               mag.y = mag_y;
-               mag.z = mag_z;
+               mag.x = AltosMag.convert_gauss(mag_x);
+               mag.y = AltosMag.convert_gauss(mag_y);
+               mag.z = AltosMag.convert_gauss(mag_z);
 
                state.mag = mag;
        }