* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_11;
+package org.altusmetrum.altoslib_14;
public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
int orient() { return int8(5); }
int gyro_z() { return int16(24); }
int mag_x() { return int16(26); }
- int mag_y() { return int16(28); }
- int mag_z() { return int16(30); }
+ int mag_z() { return int16(28); }
+ int mag_y() { return int16(30); }
- public AltosTelemetryMegaSensor(int[] bytes) throws AltosCRCException {
+ int imu_type;
+
+ private int accel_across(int imu_type) {
+ switch (imu_type) {
+ case AltosIMU.imu_type_telemega_v1_v2:
+ case AltosIMU.imu_type_telemega_v3:
+ case AltosIMU.imu_type_easymega_v1:
+ return accel_x();
+ case AltosIMU.imu_type_easymega_v2:
+ return -accel_y();
+ case AltosIMU.imu_type_telemega_v4:
+ return -accel_y();
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int accel_along(int imu_type) {
+ switch (imu_type) {
+ case AltosIMU.imu_type_telemega_v1_v2:
+ case AltosIMU.imu_type_telemega_v3:
+ case AltosIMU.imu_type_easymega_v1:
+ return accel_y();
+ case AltosIMU.imu_type_easymega_v2:
+ case AltosIMU.imu_type_telemega_v4:
+ return accel_x();
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int accel_through(int imu_type) {
+ return accel_z();
+ }
+
+ private int gyro_roll(int imu_type) {
+ switch (imu_type) {
+ case AltosIMU.imu_type_telemega_v1_v2:
+ case AltosIMU.imu_type_telemega_v3:
+ case AltosIMU.imu_type_easymega_v1:
+ return gyro_y();
+ case AltosIMU.imu_type_easymega_v2:
+ case AltosIMU.imu_type_telemega_v4:
+ return gyro_x();
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int gyro_pitch(int imu_type) {
+ switch (imu_type) {
+ case AltosIMU.imu_type_telemega_v1_v2:
+ case AltosIMU.imu_type_telemega_v3:
+ case AltosIMU.imu_type_easymega_v1:
+ return gyro_x();
+ case AltosIMU.imu_type_easymega_v2:
+ return -gyro_y();
+ case AltosIMU.imu_type_telemega_v4:
+ return gyro_y();
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int gyro_yaw(int imu_type) {
+ return gyro_z();
+ }
+
+ public static int mag_across_axis(int imu_type) {
+ switch (imu_type) {
+ case AltosIMU.imu_type_telemega_v1_v2:
+ case AltosIMU.imu_type_telemega_v3:
+ case AltosIMU.imu_type_easymega_v1:
+ return AltosIMU.imu_axis_x;
+ case AltosIMU.imu_type_telemega_v4:
+ case AltosIMU.imu_type_easymega_v2:
+ return AltosIMU.imu_axis_y;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int mag_across(int imu_type) {
+ switch (imu_type) {
+ case AltosIMU.imu_type_telemega_v1_v2:
+ case AltosIMU.imu_type_telemega_v3:
+ case AltosIMU.imu_type_easymega_v1:
+ return mag_x();
+ case AltosIMU.imu_type_telemega_v4:
+ case AltosIMU.imu_type_easymega_v2:
+ return -mag_y();
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ public static int mag_along_axis(int imu_type) {
+ switch (imu_type) {
+ case AltosIMU.imu_type_telemega_v1_v2:
+ case AltosIMU.imu_type_telemega_v3:
+ case AltosIMU.imu_type_easymega_v1:
+ return AltosIMU.imu_axis_y;
+ case AltosIMU.imu_type_easymega_v2:
+ case AltosIMU.imu_type_telemega_v4:
+ return AltosIMU.imu_axis_x;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int mag_along(int imu_type) {
+ switch (imu_type) {
+ case AltosIMU.imu_type_telemega_v1_v2:
+ case AltosIMU.imu_type_telemega_v3:
+ case AltosIMU.imu_type_easymega_v1:
+ return mag_y();
+ case AltosIMU.imu_type_easymega_v2:
+ case AltosIMU.imu_type_telemega_v4:
+ return mag_x();
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ public static int mag_through_axis(int imu_type) {
+ return AltosIMU.imu_axis_z;
+ }
+
+ private int mag_through(int imu_type) {
+ return mag_z();
+ }
+
+ public AltosTelemetryMegaSensor(int[] bytes, int imu_type) throws AltosCRCException {
super(bytes);
+ switch (imu_type) {
+ case AltosIMU.imu_type_telemega_v1_v2:
+ case AltosIMU.imu_type_telemega_v3:
+ if (serial() < 3000)
+ imu_type = AltosIMU.imu_type_telemega_v1_v2;
+ else
+ imu_type = AltosIMU.imu_type_telemega_v3;
+ break;
+ default:
+ break;
+ }
+ this.imu_type = imu_type;
}
- public void update_state(AltosState state) {
- super.update_state(state);
+ 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_type(imu_type);
+
+ /* 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);
- state.set_accel(accel());
- state.set_pressure(pres());
- state.set_temperature(temp() / 100.0);
+ int accel_along = accel_along(imu_type);
+ int accel_across = accel_across(imu_type);
+ int accel_through = accel_through(imu_type);
- state.set_orient(orient());
+ int gyro_roll = gyro_roll(imu_type);
+ int gyro_pitch = gyro_pitch(imu_type);
+ int gyro_yaw = gyro_yaw(imu_type);
- state.set_imu(new AltosIMU(accel_y(), /* along */
- accel_x(), /* across */
- accel_z(), /* through */
- gyro_y(), /* along */
- gyro_x(), /* across */
- gyro_z())); /* through */
+ int mag_along = mag_along(imu_type);
+ int mag_across = mag_across(imu_type);
+ int mag_through = mag_through(imu_type);
- state.set_mag(new AltosMag(mag_x(), mag_y(), 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));
}
}
projects / fw / altos / blobdiff