X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=b434e02e415d6f77f912d9571b6f2aaaf03461b7;hp=672c611172929115724b0382a977beeba5b1a4d6;hb=32de85691f2e4ed1430a259e05a514ad820b32d9;hpb=f7e2f7f430e612c682bf55478860054ce94b995f

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 672c6111..b434e02e 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.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
@@ -20,7 +21,7 @@ package org.altusmetrum.altoslib_11;
 import java.util.concurrent.*;
 import java.io.*;
 
-public class AltosIMU implements Cloneable, AltosJsonable {
+public class AltosIMU implements Cloneable {
 	public int		accel_along;
 	public int		accel_across;
 	public int		accel_through;
@@ -32,13 +33,15 @@ public class AltosIMU implements Cloneable, AltosJsonable {
 	public static final double	counts_per_g = 2048.0;
 
 	public static double convert_accel(double counts) {
-		return counts / counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
+		return counts / counts_per_g * AltosConvert.gravity;
 	}
 
-	public static final double	counts_per_degsec = 16.4;
+	/* In radians */
+	public static final double 	GYRO_FULLSCALE_DEGREES = 2000.0;
+	public static final double	GYRO_COUNTS = 32767.0;
 
-	public static double convert_gyro(double counts) {
-		return counts / counts_per_degsec;
+	public static double gyro_degrees_per_second(double counts, double cal) {
+		return (counts - cal) * GYRO_FULLSCALE_DEGREES / GYRO_COUNTS;
 	}
 
 	public boolean parse_string(String line) {
@@ -71,12 +74,18 @@ public class AltosIMU implements Cloneable, AltosJsonable {
 		return n;
 	}
 
-	static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
+	static public void provide_data(AltosDataListener listener, AltosLink link, AltosCalData cal_data) throws InterruptedException {
 		try {
 			AltosIMU	imu = new AltosIMU(link);
 
-			if (imu != null)
-				state.set_imu(imu);
+			if (imu != null) {
+				listener.set_accel(cal_data.accel_along(imu.accel_along),
+						   cal_data.accel_across(imu.accel_across),
+						   cal_data.accel_through(imu.accel_through));
+				listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll),
+						  cal_data.gyro_pitch(imu.gyro_pitch),
+						  cal_data.gyro_yaw(imu.gyro_yaw));
+			}
 		} catch (TimeoutException te) {
 		}
 	}
@@ -115,35 +124,4 @@ public class AltosIMU implements Cloneable, AltosJsonable {
 				break;
 		}
 	}
-
-	public AltosIMU (AltosJson j) {
-		this();
-
-		accel_along = j.get_int("accel_along", accel_along);
-		accel_across = j.get_int("accel_across", accel_across);
-		accel_through = j.get_int("accel_through", accel_through);
-
-		gyro_roll = j.get_int("gyro_roll", gyro_roll);
-		gyro_pitch = j.get_int("gyro_pitch", gyro_pitch);
-		gyro_yaw = j.get_int("gyro_yaw", gyro_yaw);
-	}
-
-	static public AltosIMU fromJson(AltosJson j, AltosIMU def) {
-		if (j == null)
-			return def;
-		return new AltosIMU(j);
-	}
-
-	public AltosJson json() {
-		AltosJson	j = new AltosJson();
-
-		j.put("accel_along", accel_along);
-		j.put("accel_across", accel_across);
-		j.put("accel_through", accel_through);
-
-		j.put("gyro_roll", gyro_roll);
-		j.put("gyro_pitch", gyro_pitch);
-		j.put("gyro_yaw", gyro_yaw);
-		return j;
-	}
 }