X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosEepromRecordMega.java;h=168b352c652a8a67707a45bb5bb6c516568ea7c4;hp=371810aba4ba8873be7b6719ef8b41df0327bec7;hb=a4039a60bbe972fd022699d62ab06a8f1bc4af69;hpb=f26cfe417c6977cf1e7e75a4f050e25f64d41859

diff --git a/altoslib/AltosEepromRecordMega.java b/altoslib/AltosEepromRecordMega.java
index 371810ab..168b352c 100644
--- a/altoslib/AltosEepromRecordMega.java
+++ b/altoslib/AltosEepromRecordMega.java
@@ -12,7 +12,7 @@
  * General Public License for more details.
  */
 
-package org.altusmetrum.altoslib_11;
+package org.altusmetrum.altoslib_13;
 
 public class AltosEepromRecordMega extends AltosEepromRecord {
 	public static final int	record_length = 32;
@@ -31,6 +31,9 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 	private int ground_roll() {
 		switch (log_format) {
 		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 			return data32(16);
 		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 			return data16(14);
@@ -41,6 +44,9 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 	private int ground_pitch() {
 		switch (log_format) {
 		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 			return data32(20);
 		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 			return data16(16);
@@ -51,6 +57,9 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 	private int ground_yaw() {
 		switch (log_format) {
 		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 			return data32(24);
 		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 			return data16(18);
@@ -73,8 +82,124 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 	private int gyro_y() { return data16(16); }
 	private int gyro_z() { return data16(18); }
 	private int mag_x() { return data16(20); }
-	private int mag_y() { return data16(22); }
-	private int mag_z() { return data16(24); }
+	private int mag_z() { return data16(22); }
+	private int mag_y() { return data16(24); }
+
+	private int imu_type() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return AltosIMU.imu_type_telemega_v1_v2;
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+			return AltosIMU.imu_type_telemega_v3;
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+			return AltosIMU.imu_type_easymega_v2;
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+			return AltosIMU.imu_type_telemega_v4;
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	private int accel_across() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return accel_x();
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+			return -accel_y();
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	private int accel_along(){
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return accel_y();
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+			return accel_x();
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	private int accel_through() {
+		return accel_z();
+	}
+
+	private int gyro_pitch() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return gyro_x();
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+			return -gyro_y();
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+			return -gyro_y();
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	private int gyro_roll() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return gyro_y();
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+			return gyro_x();
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	private int gyro_yaw() {
+		return gyro_z();
+	}
+
+	private int mag_across() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return mag_x();
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+			return -mag_y();
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+			return mag_y();
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	private int mag_along() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return mag_y();
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+			return mag_x();
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	private int mag_through() {
+		return mag_z();
+	}
+
+
 	private int accel() { return data16(26); }
 
 	/* AO_LOG_TEMP_VOLT elements */
@@ -114,30 +239,16 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 
 		AltosGPS	gps;
 
-		/* Flush any pending GPS changes */
-		if (cal_data.gps_pending()) {
-			switch (cmd()) {
-			case AltosLib.AO_LOG_GPS_LAT:
-			case AltosLib.AO_LOG_GPS_LON:
-			case AltosLib.AO_LOG_GPS_ALT:
-			case AltosLib.AO_LOG_GPS_SAT:
-			case AltosLib.AO_LOG_GPS_DATE:
-				break;
-			default:
-				listener.set_gps(cal_data.temp_gps());
-				cal_data.reset_temp_gps();
-				break;
-			}
-		}
+		cal_data.set_imu_type(imu_type());
 
 		switch (cmd()) {
 		case AltosLib.AO_LOG_FLIGHT:
 			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());
+			listener.set_accel_ground(cal_data.accel_along(ground_accel_along()),
+						  cal_data.accel_across(ground_accel_across()),
+						  cal_data.accel_through(ground_accel_through()));
 			cal_data.set_gyro_zero(ground_roll() / 512.0,
 					       ground_pitch() / 512.0,
 					       ground_yaw() / 512.0);
@@ -151,16 +262,16 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 			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	accel_along = accel_along();
+			int	accel_across = accel_across();
+			int	accel_through = accel_through();
+			int	gyro_roll = gyro_roll();
+			int	gyro_pitch = gyro_pitch();
+			int	gyro_yaw = gyro_yaw();
 
-			int	mag_along = mag_x();
-			int	mag_across = mag_y();
-			int	mag_through = mag_z();
+			int	mag_along = mag_along();
+			int	mag_across = mag_across();
+			int	mag_through = mag_through();
 
 			if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
 				cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);
@@ -177,11 +288,13 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 					 cal_data.mag_through(mag_through));
 
 
+			final double lsb_per_g = 1920.0/105.5;
+
 			double acceleration = AltosConvert.acceleration_from_sensor(
 				accel(),
-				config_data.accel_cal_plus,
-				config_data.accel_cal_minus,
-				AltosLib.MISSING);
+				cal_data.ground_accel,
+				cal_data.ground_accel + 2 * lsb_per_g,
+				cal_data.ground_accel);
 
 			listener.set_acceleration(acceleration);
 			break;
@@ -198,11 +311,11 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 			for (int i = 0; i < nsense-2; i++)
 				voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
 
-			listener.set_ignitor_voltage(voltages);
+			listener.set_igniter_voltage(voltages);
 			listener.set_pyro_fired(pyro());
 			break;
 		case AltosLib.AO_LOG_GPS_TIME:
-			gps = cal_data.make_temp_gps(tick(), false);
+			gps = listener.make_temp_gps(false);
 			gps.lat = latitude() / 1e7;
 			gps.lon = longitude() / 1e7;
 
@@ -245,7 +358,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 			}
 			break;
 		case AltosLib.AO_LOG_GPS_SAT:
-			gps = cal_data.make_temp_gps(tick(), true);
+			gps = listener.make_temp_gps(true);
 
 			int n = nsat();
 			if (n > max_sat)
@@ -263,12 +376,12 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 		return new AltosEepromRecordMega(eeprom, s);
 	}
 
-	public AltosEepromRecordMega(AltosEepromNew eeprom, int start) {
+	public AltosEepromRecordMega(AltosEeprom eeprom, int start) {
 		super(eeprom, start, record_length);
 		log_format = eeprom.config_data().log_format;
 	}
 
-	public AltosEepromRecordMega(AltosEepromNew eeprom) {
+	public AltosEepromRecordMega(AltosEeprom eeprom) {
 		this(eeprom, 0);
 	}
 }