X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosEepromRecordMega.java;h=168b352c652a8a67707a45bb5bb6c516568ea7c4;hp=b61a6fa0f6d30178b589446b8335b951101473aa;hb=a4039a60bbe972fd022699d62ab06a8f1bc4af69;hpb=f51ad734dfccfa2d4b7515a94dc337eb2b2708a2

diff --git a/altoslib/AltosEepromRecordMega.java b/altoslib/AltosEepromRecordMega.java
index b61a6fa0..168b352c 100644
--- a/altoslib/AltosEepromRecordMega.java
+++ b/altoslib/AltosEepromRecordMega.java
@@ -33,6 +33,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 		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);
@@ -45,6 +46,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 		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);
@@ -57,6 +59,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 		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);
@@ -82,6 +85,22 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 	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:
@@ -89,6 +108,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 		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;
@@ -102,6 +122,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 		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;
@@ -120,6 +141,8 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 			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;
 		}
@@ -132,6 +155,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 		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;
@@ -150,6 +174,8 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 			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;
 		}
@@ -162,6 +188,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 		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;
@@ -212,6 +239,8 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 
 		AltosGPS	gps;
 
+		cal_data.set_imu_type(imu_type());
+
 		switch (cmd()) {
 		case AltosLib.AO_LOG_FLIGHT:
 			cal_data.set_flight(flight());