altoslib: Correct monitor idle IMU data for EasyMega v2
authorKeith Packard <keithp@keithp.com>
Fri, 19 Apr 2019 02:48:00 +0000 (19:48 -0700)
committerKeith Packard <keithp@keithp.com>
Fri, 19 Apr 2019 02:48:00 +0000 (19:48 -0700)
The IMU on EasyMega v2 is rotated from the other devices using this sensor.

Signed-off-by: Keith Packard <keithp@keithp.com>
altoslib/AltosIMU.java
altoslib/AltosIdleFetch.java

index 114dfcf..8adf710 100644 (file)
@@ -88,22 +88,103 @@ public class AltosIMU implements Cloneable {
                return n;
        }
 
-       static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException {
+       public static final int orient_telemega = 0;
+       public static final int orient_easymega_v2 = 1;
+
+       private int accel_across(int orient) {
+               switch (orient) {
+               case orient_telemega:
+                       return accel_x;
+               case orient_easymega_v2:
+                       return -accel_y;
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       private int accel_along(int orient) {
+               switch (orient) {
+               case orient_telemega:
+                       return accel_y;
+               case orient_easymega_v2:
+                       return accel_x;
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       private int accel_through(int orient) {
+               return accel_z;
+       }
+
+       private int gyro_roll(int orient) {
+               switch (orient) {
+               case orient_telemega:
+                       return gyro_y;
+               case orient_easymega_v2:
+                       return gyro_x;
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       private int gyro_pitch(int orient) {
+               switch (orient) {
+               case orient_telemega:
+                       return gyro_x;
+               case orient_easymega_v2:
+                       return -gyro_y;
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       private int gyro_yaw(int orient) {
+               return gyro_z;
+       }
+
+       private int mag_across(int orient) {
+               switch (orient) {
+               case orient_telemega:
+                       return mag_x;
+               case orient_easymega_v2:
+                       return -mag_y;
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       private int mag_along(int orient) {
+               switch (orient) {
+               case orient_telemega:
+                       return mag_y;
+               case orient_easymega_v2:
+                       return mag_x;
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       private int mag_through(int orient) {
+               return mag_z;
+       }
+
+       static public void provide_data(AltosDataListener listener, AltosLink link, int orient) throws InterruptedException {
                try {
                        AltosIMU        imu = new AltosIMU(link);
                        AltosCalData    cal_data = listener.cal_data();
 
                        if (imu != null) {
-                               listener.set_gyro(cal_data.gyro_roll(imu.gyro_y),
-                                                 cal_data.gyro_pitch(imu.gyro_x),
-                                                 cal_data.gyro_yaw(imu.gyro_z));
-                               listener.set_accel_ground(imu.accel_y,
-                                                         imu.accel_x,
-                                                         imu.accel_z);
+                               listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(orient)),
+                                                 cal_data.gyro_pitch(imu.gyro_pitch(orient)),
+                                                 cal_data.gyro_yaw(imu.gyro_yaw(orient)));
+                               listener.set_accel_ground(imu.accel_along(orient),
+                                                         imu.accel_across(orient),
+                                                         imu.accel_through(orient));
                                if (imu.mag_x != AltosLib.MISSING) {
-                                       listener.set_mag(cal_data.mag_along(imu.mag_y),
-                                                        cal_data.mag_across(imu.mag_x),
-                                                        cal_data.mag_through(imu.mag_z));
+                                       listener.set_mag(cal_data.mag_along(imu.mag_along(orient)),
+                                                        cal_data.mag_across(imu.mag_across(orient)),
+                                                        cal_data.mag_through(imu.mag_through(orient)));
                                }
                        }
                } catch (TimeoutException te) {
index a68ccac..7814627 100644 (file)
@@ -29,7 +29,8 @@ class AltosIdler {
 
        static final int        idle_gps = 0;
        static final int        idle_imu = 1;
-       static final int        idle_mag = 2;
+       static final int        idle_imu_em_v2 = 2;
+       static final int        idle_mag = 3;
        static final int        idle_mma655x = 4;
        static final int        idle_ms5607 = 5;
        static final int        idle_adxl375 = 6;
@@ -51,7 +52,10 @@ class AltosIdler {
                                AltosGPS.provide_data(listener, link);
                                break;
                        case idle_imu:
-                               AltosIMU.provide_data(listener, link);
+                               AltosIMU.provide_data(listener, link, AltosIMU.orient_telemega);
+                               break;
+                       case idle_imu_em_v2:
+                               AltosIMU.provide_data(listener, link, AltosIMU.orient_easymega_v2);
                                break;
                        case idle_mag:
                                AltosMag.provide_data(listener, link);
@@ -172,7 +176,7 @@ public class AltosIdleFetch implements AltosDataProvider {
                new AltosIdler("EasyMega-v2",
                               AltosIdler.idle_adxl375,
                               AltosIdler.idle_ms5607,
-                              AltosIdler.idle_imu,
+                              AltosIdler.idle_imu_em_v2,
                               AltosIdler.idle_sensor_mega),
                new AltosIdler("TeleGPS-v1",
                               AltosIdler.idle_gps,