altoslib: Fetch 'orient' value from Mega Sensor packet

The mega sensor packet had a spare byte to hold the current
orientation value.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index 6d55b833b83a5bf1a8878d10d6e45b539a71b088..4ddcc4ed0bb1f2d01f31e7a5ae2cd068d54af467 100644 (file)
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -464,6 +464,16 @@ public class AltosState implements Cloneable {
                return acceleration.max();
        }
 
                return acceleration.max();
        }
 

+       public AltosValue       orient;
+
+       public void set_orient(double new_orient) {
+               orient.set(new_orient, time);
+       }
+
+       public double orient() {
+               return orient.value();
+       }
+

        public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 
        public void set_kalman(double height, double speed, double acceleration) {
        public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 
        public void set_kalman(double height, double speed, double acceleration) {


@@ -560,6 +570,7 @@ public class AltosState implements Cloneable {
                pressure = new AltosPressure();
                speed = new AltosSpeed();
                acceleration = new AltosAccel();
                pressure = new AltosPressure();
                speed = new AltosSpeed();
                acceleration = new AltosAccel();

+               orient = new AltosValue();

 
                temperature = AltosLib.MISSING;
                battery_voltage = AltosLib.MISSING;
 
                temperature = AltosLib.MISSING;
                battery_voltage = AltosLib.MISSING;


@@ -621,6 +632,7 @@ public class AltosState implements Cloneable {
                pressure.finish_update();
                speed.finish_update();
                acceleration.finish_update();
                pressure.finish_update();
                speed.finish_update();
                acceleration.finish_update();

+               orient.finish_update();

 
                kalman_height.finish_update();
                kalman_speed.finish_update();
 
                kalman_height.finish_update();
                kalman_speed.finish_update();


@@ -665,6 +677,7 @@ public class AltosState implements Cloneable {
                pressure.copy(old.pressure);
                speed.copy(old.speed);
                acceleration.copy(old.acceleration);
                pressure.copy(old.pressure);
                speed.copy(old.speed);
                acceleration.copy(old.acceleration);

+               orient.copy(old.orient);

 
                battery_voltage = old.battery_voltage;
                pyro_voltage = old.pyro_voltage;
 
                battery_voltage = old.battery_voltage;
                pyro_voltage = old.pyro_voltage;

diff --git a/altoslib/AltosTelemetryMegaSensor.java b/altoslib/AltosTelemetryMegaSensor.java
index 8afabd3064afc9e8327602a92764eb6fefdc71c7..3c4f1f8f6771f98535bb45b44d5498cb0c23b2f1 100644 (file)
--- a/altoslib/AltosTelemetryMegaSensor.java
+++ b/altoslib/AltosTelemetryMegaSensor.java
@@ -34,9 +34,12 @@ public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
        int     mag_y;
        int     mag_z;
 
        int     mag_y;
        int     mag_z;
 

+       int     orient;
+

        public AltosTelemetryMegaSensor(int[] bytes) {
                super(bytes);
 
        public AltosTelemetryMegaSensor(int[] bytes) {
                super(bytes);
 

+               orient        = int8(5);

                accel         = int16(6);
                pres          = int32(8);
                temp          = int16(12);
                accel         = int16(6);
                pres          = int32(8);
                temp          = int16(12);


@@ -61,6 +64,8 @@ public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
                state.set_pressure(pres);
                state.set_temperature(temp / 100.0);
 
                state.set_pressure(pres);
                state.set_temperature(temp / 100.0);
 

+               state.set_orient(orient);
+

                AltosIMU imu = new AltosIMU();
                
                imu.accel_x = AltosIMU.convert_accel(accel_x);
                AltosIMU imu = new AltosIMU();
                
                imu.accel_x = AltosIMU.convert_accel(accel_x);