X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosCalData.java;h=c90534a924e4159ea62cc0a1db5575e8493a67d0;hp=fdea5e214948da1bdad80f60ad43cc8c9fde0475;hb=db950e97caefdd3257c1a2de3547ab88a2bd2344;hpb=749400fd244eba38806c623d2a35722642230698

diff --git a/altoslib/AltosCalData.java b/altoslib/AltosCalData.java
index fdea5e21..c90534a9 100644
--- a/altoslib/AltosCalData.java
+++ b/altoslib/AltosCalData.java
@@ -12,7 +12,7 @@
  * General Public License for more details.
  */
 
-package org.altusmetrum.altoslib_12;
+package org.altusmetrum.altoslib_14;
 
 /*
  * Calibration and other data needed to construct 'real' values from various data
@@ -120,6 +120,13 @@ public class AltosCalData {
 			this.ground_accel = ground_accel;
 	}
 
+	public double		ground_motor_pressure = AltosLib.MISSING;
+
+	public void set_ground_motor_pressure(double ground_motor_pressure) {
+		if (ground_motor_pressure != AltosLib.MISSING)
+			this.ground_motor_pressure = ground_motor_pressure;
+	}
+
 	/* Raw acceleration value */
 	public double		accel = AltosLib.MISSING;
 
@@ -133,6 +140,18 @@ public class AltosCalData {
 		mma655x_inverted = inverted;
 	}
 
+	public boolean adxl375_inverted = false;
+
+	public void set_adxl375_inverted(boolean inverted) {
+		adxl375_inverted = inverted;
+	}
+
+	public int adxl375_axis = AltosLib.MISSING;
+
+	public void set_adxl375_axis(int axis) {
+		adxl375_axis = axis;
+	}
+
 	public int pad_orientation = AltosLib.MISSING;
 
 	public void set_pad_orientation(int orientation) {
@@ -142,7 +161,9 @@ public class AltosCalData {
 
 	/* Compute acceleration */
 	public double acceleration(double sensor) {
-		return AltosConvert.acceleration_from_sensor(sensor, accel_plus_g, accel_minus_g, ground_accel);
+		double accel;
+		accel = AltosConvert.acceleration_from_sensor(sensor, accel_plus_g, accel_minus_g, ground_accel);
+		return accel;
 	}
 
 	public AltosMs5607	ms5607 = null;
@@ -233,6 +254,10 @@ public class AltosCalData {
 
 	public int		state = AltosLib.MISSING;
 
+	public String state_name() {
+		return AltosLib.state_name(state);
+	}
+
 	public void set_state(int state) {
 		if (state >= AltosLib.ao_flight_boost && boost_tick == AltosLib.MISSING)
 			set_boost_tick();
@@ -241,6 +266,8 @@ public class AltosCalData {
 
 	public AltosGPS		gps_pad = null;
 
+	public AltosGPS		prev_gps = null;
+
 	public double		gps_pad_altitude = AltosLib.MISSING;
 
 	public void set_cal_gps(AltosGPS gps) {
@@ -251,6 +278,7 @@ public class AltosCalData {
 				gps_pad_altitude = gps.alt;
 		}
 		temp_gps = null;
+		prev_gps = gps;
 	}
 
 	/*
@@ -275,7 +303,7 @@ public class AltosCalData {
 
 	public AltosGPS make_temp_cal_gps(int tick, boolean sats) {
 		if (temp_gps == null)
-			temp_gps = new AltosGPS();
+			temp_gps = new AltosGPS(prev_gps);
 		if (sats) {
 			if (tick != temp_gps_sat_tick)
 				temp_gps.cc_gps_sat = null;
@@ -284,6 +312,24 @@ public class AltosCalData {
 		return temp_gps;
 	}
 
+	public int	imu_type = AltosLib.MISSING;
+
+	public int	imu_model = AltosLib.MISSING;
+
+	public int	mag_model = AltosLib.MISSING;
+
+	public void set_imu_type(int imu_type) {
+		this.imu_type = imu_type;
+	}
+
+	public void set_imu_model(int imu_model) {
+		this.imu_model = imu_model;
+	}
+
+	public void set_mag_model(int mag_model) {
+		this.mag_model = mag_model;
+	}
+
 	public double	accel_zero_along, accel_zero_across, accel_zero_through;
 
 	public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
@@ -295,18 +341,20 @@ public class AltosCalData {
 	}
 
 	public double accel_along(double counts) {
-		return AltosIMU.convert_accel(counts - accel_zero_along);
+		return AltosIMU.convert_accel(counts - accel_zero_along, imu_type, imu_model);
 	}
 
 	public double accel_across(double counts) {
-		return AltosIMU.convert_accel(counts - accel_zero_across);
+		return AltosIMU.convert_accel(counts - accel_zero_across, imu_type, imu_model);
 	}
 
 	public double accel_through(double counts) {
-		return AltosIMU.convert_accel(counts - accel_zero_through);
+		return AltosIMU.convert_accel(counts - accel_zero_through, imu_type, imu_model);
 	}
 
-	public double	gyro_zero_roll,	gyro_zero_pitch, gyro_zero_yaw;
+	public double	gyro_zero_roll = AltosLib.MISSING;
+	public double	gyro_zero_pitch = AltosLib.MISSING;
+	public double	gyro_zero_yaw = AltosLib.MISSING;
 
 	public void set_gyro_zero(double roll, double pitch, double yaw) {
 		if (roll != AltosLib.MISSING) {
@@ -321,19 +369,19 @@ public class AltosCalData {
 		if (gyro_zero_roll == AltosLib.MISSING || counts == AltosLib.MISSING)
 			return AltosLib.MISSING;
 
-		return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_roll);
+		return AltosIMU.gyro_degrees_per_second(counts - gyro_zero_roll, imu_type, imu_model);
 	}
 
 	public double gyro_pitch(double counts) {
 		if (gyro_zero_pitch == AltosLib.MISSING || counts == AltosLib.MISSING)
 			return AltosLib.MISSING;
-		return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_pitch);
+		return AltosIMU.gyro_degrees_per_second(counts - gyro_zero_pitch, imu_type, imu_model);
 	}
 
 	public double gyro_yaw(double counts) {
 		if (gyro_zero_yaw == AltosLib.MISSING || counts == AltosLib.MISSING)
 			return AltosLib.MISSING;
-		return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_yaw);
+		return AltosIMU.gyro_degrees_per_second(counts - gyro_zero_yaw, imu_type, imu_model);
 	}
 
 	private double gyro_zero_overflow(double first) {
@@ -366,19 +414,19 @@ public class AltosCalData {
 	public double mag_along(double along) {
 		if (along == AltosLib.MISSING)
 			return AltosLib.MISSING;
-		return AltosMag.convert_gauss(along);
+		return AltosMag.convert_gauss(along, imu_type, mag_model);
 	}
 
 	public double mag_across(double across) {
 		if (across == AltosLib.MISSING)
 			return AltosLib.MISSING;
-		return AltosMag.convert_gauss(across);
+		return AltosMag.convert_gauss(across, imu_type, mag_model);
 	}
 
 	public double mag_through(double through) {
 		if (through == AltosLib.MISSING)
 			return AltosLib.MISSING;
-		return AltosMag.convert_gauss(through);
+		return AltosMag.convert_gauss(through, imu_type, mag_model);
 	}
 
 	public AltosCalData() {
@@ -394,13 +442,21 @@ public class AltosCalData {
 		set_flight_params(config_data.apogee_delay / ticks_per_sec, config_data.apogee_lockout / ticks_per_sec);
 		set_pad_orientation(config_data.pad_orientation);
 		set_product(config_data.product);
-		set_accel_plus_minus(config_data.accel_cal_plus, config_data.accel_cal_minus);
+		set_accel_plus_minus(config_data.accel_cal_plus(config_data.pad_orientation), config_data.accel_cal_minus(config_data.pad_orientation));
 		set_accel_zero(config_data.accel_zero_along, config_data.accel_zero_across, config_data.accel_zero_through);
 		set_ms5607(config_data.ms5607);
 		try {
 			set_mma655x_inverted(config_data.mma655x_inverted());
 		} catch (AltosUnknownProduct up) {
 		}
+		try {
+			set_adxl375_inverted(config_data.adxl375_inverted());
+		} catch (AltosUnknownProduct up) {
+		}
+		try {
+			set_adxl375_axis(config_data.adxl375_axis());
+		} catch (AltosUnknownProduct up) {
+		}
 		set_pad_orientation(config_data.pad_orientation);
 	}
 }