X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosEepromMega.java;h=082d6054f2fe8b25244c0f76fa8ce0d73d09c334;hp=7a4ee52d10680e1e61c3289bb029a12e079b444c;hb=51bdee662fdfad1937c576daadd2e5eacac17905;hpb=488a527267decece48e6682e0e0c7fc29cbed329 diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java index 7a4ee52d..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_2; +package org.altusmetrum.altoslib_11; import java.io.*; import java.util.*; @@ -24,13 +25,49 @@ import java.text.*; public class AltosEepromMega extends AltosEeprom { public static final int record_length = 32; + public static final int max_sat = 12; + + private int log_format; + public int record_length() { return record_length; } /* AO_LOG_FLIGHT elements */ public int flight() { return data16(0); } public int ground_accel() { return data16(2); } public int ground_pres() { return data32(4); } - public int ground_temp() { return data32(8); } + 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() { + 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); } @@ -60,7 +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); } @@ -68,13 +105,22 @@ public class AltosEepromMega extends AltosEeprom { public int year() { return data8(14); } public int month() { return data8(15); } public int day() { return data8(16); } - + public int course() { return data8(17); } + public int ground_speed() { return data16(18); } + public int climb_rate() { return data16(20); } + public int pdop() { return data8(22); } + 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); } @@ -104,7 +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_temperature(ground_temp() / 100.0); + 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); @@ -114,22 +165,21 @@ public class AltosEepromMega extends AltosEeprom { state.set_tick(tick); state.set_ms5607(pres(), temp()); - AltosIMU imu = new AltosIMU(); - imu.accel_x = accel_x(); - imu.accel_y = accel_y(); - imu.accel_z = 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 = gyro_x(); - imu.gyro_y = gyro_y(); - imu.gyro_z = 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 = mag_x(); - mag.y = mag_y(); - mag.z = mag_z(); + state.set_imu(imu); - state.mag = mag; + state.set_mag(new AltosMag(mag_x(), + mag_y(), + mag_z())); state.set_accel(accel()); @@ -148,13 +198,18 @@ public class AltosEepromMega extends AltosEeprom { voltages[i] = AltosConvert.mega_pyro_voltage(sense(i)); state.set_ignitor_voltage(voltages); + state.set_pyro_fired(pyro()); break; case AltosLib.AO_LOG_GPS_TIME: state.set_tick(tick); 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(); @@ -170,23 +225,44 @@ public class AltosEepromMega extends AltosEeprom { gps.year = 2000 + year(); gps.month = month(); gps.day = day(); + gps.ground_speed = ground_speed() * 1.0e-2; + gps.course = course() * 2; + gps.climb_rate = climb_rate() * 1.0e-2; + 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); gps = state.make_temp_gps(true); int n = nsat(); + if (n > max_sat) + n = max_sat; for (int i = 0; i < n; i++) gps.add_sat(svid(i), c_n(i)); break; } } - 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 (;;) { @@ -195,7 +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) {