altoslib: Do data analysis on raw values rather than AltosState

[fw/altos] / altoslib / AltosTelemetryReader.java

diff --git a/altoslib/AltosTelemetryReader.java b/altoslib/AltosTelemetryReader.java
index 6a93c2c3f262ad5bce24b5fe0dde0f028be0fff4..9611361310a229b614cf8d9d6c734bc5e6e207d0 100644 (file)
--- a/altoslib/AltosTelemetryReader.java
+++ b/altoslib/AltosTelemetryReader.java
@@ -28,7 +28,8 @@ public class AltosTelemetryReader extends AltosFlightReader {
        double          frequency;
        int             telemetry;
        int             telemetry_rate;
-       AltosState      state = null;
+       public AltosState       state = null;
+       public AltosCalData     cal_data = null;
 
        LinkedBlockingQueue<AltosLine> telem;
 
@@ -40,11 +41,11 @@ public class AltosTelemetryReader extends AltosFlightReader {
                                throw new IOException("IO error");
                } while (!link.get_monitor());
                AltosTelemetry  telem = AltosTelemetry.parse(l.line);
+               if (cal_data == null)
+                       cal_data = new AltosCalData();
                if (state == null)
-                       state = new AltosState();
-               else
-                       state = state.clone();
-               telem.update_state(state);
+                       state = new AltosState(cal_data);
+               telem.provide_data(state, cal_data);
                return state;
        }
 
@@ -55,6 +56,7 @@ public class AltosTelemetryReader extends AltosFlightReader {
        public void reset() {
                flush();
                state = null;
+               cal_data = null;
        }
 
        public void close(boolean interrupted) {