X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosEepromRecordMega.java;h=ce9dbc109e4955c40766c484b738e1d51aa947f4;hp=cd6916b456f5a938bec0ad83f246240dd08ae941;hb=6dea82844075348049ce5ff9bb8670ba8efc6668;hpb=2e82051a6aaaccf1e8a242f9c8141e4167e652d2 diff --git a/altoslib/AltosEepromRecordMega.java b/altoslib/AltosEepromRecordMega.java index cd6916b4..ce9dbc10 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 +31,8 @@ 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: return data32(16); case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: return data16(14); @@ -41,6 +43,8 @@ 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: return data32(20); case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: return data16(16); @@ -51,6 +55,8 @@ 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: return data32(24); case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: return data16(18); @@ -73,8 +79,100 @@ 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 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: + 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: + 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(); + 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: + 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(); + 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: + 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 */ @@ -114,22 +212,6 @@ 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; - } - } - switch (cmd()) { case AltosLib.AO_LOG_FLIGHT: cal_data.set_flight(flight()); @@ -151,16 +233,16 @@ 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 +259,13 @@ 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; @@ -202,7 +286,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord { 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 +329,7 @@ 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 +347,12 @@ 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); } }