X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosEepromMega.java;h=082d6054f2fe8b25244c0f76fa8ce0d73d09c334;hp=71719a26477eb47db8a103790abe6f314ac2cfe8;hb=51bdee662fdfad1937c576daadd2e5eacac17905;hpb=f0216d721ed13f4d3dc608bb6ad8f83732b27c0a diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java index 71719a26..082d6054 100644 --- a/altoslib/AltosEepromMega.java +++ b/altoslib/AltosEepromMega.java @@ -3,7 +3,8 @@ * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of @@ -15,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_4; +package org.altusmetrum.altoslib_11; import java.io.*; import java.util.*; @@ -26,6 +27,8 @@ public class AltosEepromMega extends AltosEeprom { public static final int max_sat = 12; + private int log_format; + public int record_length() { return record_length; } /* AO_LOG_FLIGHT elements */ @@ -35,9 +38,36 @@ public class AltosEepromMega extends AltosEeprom { public int ground_accel_along() { return data16(8); } public int ground_accel_across() { return data16(10); } public int ground_accel_through() { return data16(12); } - public int ground_roll() { return data16(14); } - public int ground_pitch() { return data16(16); } - public int ground_yaw() { return data16(18); } + public int ground_roll() { + switch (log_format) { + case AltosLib.AO_LOG_FORMAT_TELEMEGA: + return data32(16); + case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: + return data16(14); + default: + return AltosLib.MISSING; + } + } + public int ground_pitch() { + switch (log_format) { + case AltosLib.AO_LOG_FORMAT_TELEMEGA: + return data32(20); + case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: + return data16(16); + default: + return AltosLib.MISSING; + } + } + public int ground_yaw() { + switch (log_format) { + case AltosLib.AO_LOG_FORMAT_TELEMEGA: + return data32(24); + case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: + return data16(18); + default: + return AltosLib.MISSING; + } + } /* AO_LOG_STATE elements */ public int state() { return data16(0); } @@ -67,7 +97,7 @@ public class AltosEepromMega extends AltosEeprom { /* AO_LOG_GPS_TIME elements */ public int latitude() { return data32(0); } public int longitude() { return data32(4); } - public int altitude() { return data16(8); } + public int altitude_low() { return data16(8); } public int hour() { return data8(10); } public int minute() { return data8(11); } public int second() { return data8(12); } @@ -82,13 +112,15 @@ public class AltosEepromMega extends AltosEeprom { public int hdop() { return data8(23); } public int vdop() { return data8(24); } public int mode() { return data8(25); } + public int altitude_high() { return data16(26); } /* AO_LOG_GPS_SAT elements */ public int nsat() { return data16(0); } public int svid(int n) { return data8(2 + n * 2); } public int c_n(int n) { return data8(2 + n * 2 + 1); } - public AltosEepromMega (AltosEepromChunk chunk, int start) throws ParseException { + public AltosEepromMega (AltosEepromChunk chunk, int start, int log_format) throws ParseException { + this.log_format = log_format; parse_chunk(chunk, start); } @@ -118,6 +150,12 @@ public class AltosEepromMega extends AltosEeprom { state.set_flight(flight()); state.set_ground_accel(ground_accel()); state.set_ground_pressure(ground_pres()); + state.set_accel_ground(ground_accel_along(), + ground_accel_across(), + ground_accel_through()); + state.set_gyro_zero(ground_roll() / 512.0, + ground_pitch() / 512.0, + ground_yaw() / 512.0); break; case AltosLib.AO_LOG_STATE: state.set_tick(tick); @@ -127,22 +165,21 @@ public class AltosEepromMega extends AltosEeprom { state.set_tick(tick); state.set_ms5607(pres(), temp()); - AltosIMU imu = new AltosIMU(); - imu.accel_x = AltosIMU.convert_accel(accel_x()); - imu.accel_y = AltosIMU.convert_accel(accel_y()); - imu.accel_z = AltosIMU.convert_accel(accel_z()); + AltosIMU imu = new AltosIMU(accel_y(), /* along */ + accel_x(), /* across */ + accel_z(), /* through */ + gyro_y(), /* roll */ + gyro_x(), /* pitch */ + gyro_z()); /* yaw */ - 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; + if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD) + state.check_imu_wrap(imu); - AltosMag mag = new AltosMag(); - mag.x = AltosMag.convert_gauss(mag_x()); - mag.y = AltosMag.convert_gauss(mag_y()); - mag.z = AltosMag.convert_gauss(mag_z()); + state.set_imu(imu); - state.mag = mag; + state.set_mag(new AltosMag(mag_x(), + mag_y(), + mag_z())); state.set_accel(accel()); @@ -168,7 +205,11 @@ public class AltosEepromMega extends AltosEeprom { gps = state.make_temp_gps(false); gps.lat = latitude() / 1e7; gps.lon = longitude() / 1e7; - gps.alt = altitude(); + + if (state.altitude_32()) + gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16); + else + gps.alt = altitude_low(); gps.hour = hour(); gps.minute = minute(); @@ -187,8 +228,21 @@ public class AltosEepromMega extends AltosEeprom { gps.ground_speed = ground_speed() * 1.0e-2; gps.course = course() * 2; gps.climb_rate = climb_rate() * 1.0e-2; - gps.hdop = hdop(); - gps.vdop = vdop(); + if (state.compare_version("1.4.9") >= 0) { + gps.pdop = pdop() / 10.0; + gps.hdop = hdop() / 10.0; + gps.vdop = vdop() / 10.0; + } else { + gps.pdop = pdop() / 100.0; + if (gps.pdop < 0.8) + gps.pdop += 2.56; + gps.hdop = hdop() / 100.0; + if (gps.hdop < 0.8) + gps.hdop += 2.56; + gps.vdop = vdop() / 100.0; + if (gps.vdop < 0.8) + gps.vdop += 2.56; + } break; case AltosLib.AO_LOG_GPS_SAT: state.set_tick(tick); @@ -203,11 +257,12 @@ public class AltosEepromMega extends AltosEeprom { } } - public AltosEepromMega (String line) { + public AltosEepromMega (String line, int log_format) { + this.log_format = log_format; parse_string(line); } - static public LinkedList read(FileInputStream input) { + static public LinkedList read(FileInputStream input, int log_format) { LinkedList megas = new LinkedList(); for (;;) { @@ -216,7 +271,7 @@ public class AltosEepromMega extends AltosEeprom { if (line == null) break; try { - AltosEepromMega mega = new AltosEepromMega(line); + AltosEepromMega mega = new AltosEepromMega(line, log_format); if (mega.cmd != AltosLib.AO_LOG_INVALID) megas.add(mega); } catch (Exception e) {