projects
/
fw
/
altos
/ blobdiff
commit
grep
author
committer
pickaxe
?
search:
re
summary
|
shortlog
|
log
|
commit
|
commitdiff
|
tree
raw
|
inline
| side by side
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 mag_y;
int mag_z;
+ int orient;
+
public AltosTelemetryMegaSensor(int[] bytes) {
super(bytes);
public AltosTelemetryMegaSensor(int[] bytes) {
super(bytes);
+ orient = int8(5);
accel = int16(6);
pres = int32(8);
temp = int16(12);
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_pressure(pres);
state.set_temperature(temp / 100.0);
+ state.set_orient(orient);
+
AltosIMU imu = new AltosIMU();
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();
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;
}
state.mag = mag;
}