X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosEepromRecordMega.java;fp=altoslib%2FAltosEepromRecordMega.java;h=371810aba4ba8873be7b6719ef8b41df0327bec7;hp=3c5f60b31170c036060f902247c352c4177aa5b0;hb=f26cfe417c6977cf1e7e75a4f050e25f64d41859;hpb=7600116a191b3ac252a0f716d200d0e0b3500987

diff --git a/altoslib/AltosEepromRecordMega.java b/altoslib/AltosEepromRecordMega.java
index 3c5f60b3..371810ab 100644
--- a/altoslib/AltosEepromRecordMega.java
+++ b/altoslib/AltosEepromRecordMega.java
@@ -109,12 +109,13 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 	private int svid(int n) { return data8(2 + n * 2); }
 	private int c_n(int n) { return data8(2 + n * 2 + 1); }
 
-	public void update_state(AltosFlightListener state) {
-		super.update_state(state);
+	public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
+		super.provide_data(listener, cal_data);
+
 		AltosGPS	gps;
 
 		/* Flush any pending GPS changes */
-		if (state.gps_pending()) {
+		if (cal_data.gps_pending()) {
 			switch (cmd()) {
 			case AltosLib.AO_LOG_GPS_LAT:
 			case AltosLib.AO_LOG_GPS_LON:
@@ -123,66 +124,85 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 			case AltosLib.AO_LOG_GPS_DATE:
 				break;
 			default:
-				state.set_temp_gps();
+				listener.set_gps(cal_data.temp_gps());
+				cal_data.reset_temp_gps();
 				break;
 			}
 		}
 
 		switch (cmd()) {
 		case AltosLib.AO_LOG_FLIGHT:
-			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);
+			cal_data.set_flight(flight());
+			cal_data.set_ground_accel(ground_accel());
+			cal_data.set_ground_pressure(ground_pres());
+			listener.set_accel_ground(ground_accel_along(),
+						  ground_accel_across(),
+						  ground_accel_through());
+			cal_data.set_gyro_zero(ground_roll() / 512.0,
+					       ground_pitch() / 512.0,
+					       ground_yaw() / 512.0);
 			break;
 		case AltosLib.AO_LOG_STATE:
-			state.set_state(state());
+			listener.set_state(state());
 			break;
 		case AltosLib.AO_LOG_SENSOR:
-			state.set_ms5607(pres(), temp());
-
-			AltosIMU	imu = new AltosIMU(accel_y(),	/* along */
-							   accel_x(),	/* across */
-							   accel_z(),	/* through */
-							   gyro_y(),	/* roll */
-							   gyro_x(),	/* pitch */
-							   gyro_z());	/* yaw */
+			AltosConfigData config_data = eeprom.config_data();
+			AltosPresTemp pt = config_data.ms5607().pres_temp(pres(), temp());;
+			listener.set_pressure(pt.pres);
+			listener.set_temperature(pt.temp);
+
+			int	accel_along = accel_y();
+			int	accel_across = accel_x();
+			int	accel_through = accel_z();
+			int	gyro_roll = gyro_y();
+			int	gyro_pitch = gyro_x();
+			int	gyro_yaw = gyro_z();
+
+			int	mag_along = mag_x();
+			int	mag_across = mag_y();
+			int	mag_through = mag_z();
 
 			if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
-				state.check_imu_wrap(imu);
+				cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);
+
+			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));
 
-			state.set_imu(imu);
+			listener.set_mag(cal_data.mag_along(mag_along),
+					 cal_data.mag_across(mag_across),
+					 cal_data.mag_through(mag_through));
 
-			state.set_mag(new AltosMag(mag_x(),
-						   mag_y(),
-						   mag_z()));
 
-			state.set_accel(accel());
+			double acceleration = AltosConvert.acceleration_from_sensor(
+				accel(),
+				config_data.accel_cal_plus,
+				config_data.accel_cal_minus,
+				AltosLib.MISSING);
 
+			listener.set_acceleration(acceleration);
 			break;
 		case AltosLib.AO_LOG_TEMP_VOLT:
-			state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
-			state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
+			listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
+			listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
 
 			int nsense = nsense();
 
-			state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
-			state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
+			listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
+			listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
 
 			double voltages[] = new double[nsense-2];
 			for (int i = 0; i < nsense-2; i++)
 				voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
 
-			state.set_ignitor_voltage(voltages);
-			state.set_pyro_fired(pyro());
+			listener.set_ignitor_voltage(voltages);
+			listener.set_pyro_fired(pyro());
 			break;
 		case AltosLib.AO_LOG_GPS_TIME:
-			gps = state.make_temp_gps(false);
+			gps = cal_data.make_temp_gps(tick(), false);
 			gps.lat = latitude() / 1e7;
 			gps.lon = longitude() / 1e7;
 
@@ -225,7 +245,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 			}
 			break;
 		case AltosLib.AO_LOG_GPS_SAT:
-			gps = state.make_temp_gps(true);
+			gps = cal_data.make_temp_gps(tick(), true);
 
 			int n = nsat();
 			if (n > max_sat)