altosui: Add imu and mag sensor values to plots

Makes for a lot of potential graph elements.

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

diff --git a/altosui/AltosFlightStats.java b/altosui/AltosFlightStats.java
index 552210c36adac61f13cc1c4c617903a208b9d8ba..b3ee14acc516cdc8e8e75bf0fb503e6ff8577648 100644 (file)
--- a/altosui/AltosFlightStats.java
+++ b/altosui/AltosFlightStats.java
@@ -38,6 +38,9 @@ public class AltosFlightStats {
        boolean         has_gps;
        boolean         has_other_adc;
        boolean         has_rssi;
+       boolean         has_imu;
+       boolean         has_mag;
+       boolean         has_orient;
 
        double landed_time(AltosStateIterable states) {
                AltosState state = null;
@@ -108,6 +111,9 @@ public class AltosFlightStats {
                has_gps = false;
                has_other_adc = false;
                has_rssi = false;
+               has_imu = false;
+               has_mag = false;
+               has_orient = false;
                for (AltosState state : states) {
                        if (serial == AltosLib.MISSING && state.serial != AltosLib.MISSING)
                                serial = state.serial;
@@ -157,6 +163,12 @@ public class AltosFlightStats {
                                lon = state.gps.lon;
                                has_gps = true;
                        }
+                       if (state.imu != null)
+                               has_imu = true;
+                       if (state.mag != null)
+                               has_mag = true;
+                       if (state.orient() != AltosLib.MISSING)
+                               has_orient = true;
                }
                for (int s = Altos.ao_flight_startup; s <= Altos.ao_flight_landed; s++) {
                        if (state_count[s] > 0) {

diff --git a/altosui/AltosGraph.java b/altosui/AltosGraph.java
index c505d2d8c5dc41771b9cc1d07bd03e8afece8f0e..fa1a5b7202ecbebf2cfaad3d44632ad3988d9c08 100644 (file)
--- a/altosui/AltosGraph.java
+++ b/altosui/AltosGraph.java
@@ -127,6 +127,75 @@ class AltosDbm extends AltosUnits {
        }
 }
 
+class AltosGyroUnits extends AltosUnits {
+
+       public double value(double p, boolean imperial_units) {
+               return p;
+       }
+
+       public double inverse(double p, boolean imperial_units) {
+               return p;
+       }
+
+       public String show_units(boolean imperial_units) {
+               return "°/sec";
+       }
+
+       public String say_units(boolean imperial_units) {
+               return "degrees per second";
+       }
+
+       public int show_fraction(int width, boolean imperial_units) {
+               return 1;
+       }
+}
+
+class AltosOrientUnits extends AltosUnits {
+
+       public double value(double p, boolean imperial_units) {
+               return p;
+       }
+
+       public double inverse(double p, boolean imperial_units) {
+               return p;
+       }
+
+       public String show_units(boolean imperial_units) {
+               return "°";
+       }
+
+       public String say_units(boolean imperial_units) {
+               return "degrees";
+       }
+
+       public int show_fraction(int width, boolean imperial_units) {
+               return 1;
+       }
+}
+
+class AltosMagUnits extends AltosUnits {
+
+       public double value(double p, boolean imperial_units) {
+               return p;
+       }
+
+       public double inverse(double p, boolean imperial_units) {
+               return p;
+       }
+
+       public String show_units(boolean imperial_units) {
+               return "Ga";
+       }
+
+       public String say_units(boolean imperial_units) {
+               return "gauss";
+       }
+
+       public int show_fraction(int width, boolean imperial_units) {
+               return 2;
+       }
+}
+
 public class AltosGraph extends AltosUIGraph {
 
        static final private Color height_color = new Color(194,31,31);
@@ -146,14 +215,28 @@ public class AltosGraph extends AltosUIGraph {
        static final private Color temperature_color = new Color (31, 194, 194);
        static final private Color dbm_color = new Color(31, 100, 100);
        static final private Color state_color = new Color(0,0,0);
+       static final private Color accel_x_color = new Color(255, 0, 0);
+       static final private Color accel_y_color = new Color(0, 255, 0);
+       static final private Color accel_z_color = new Color(0, 0, 255);
+       static final private Color gyro_x_color = new Color(192, 0, 0);
+       static final private Color gyro_y_color = new Color(0, 192, 0);
+       static final private Color gyro_z_color = new Color(0, 0, 192);
+       static final private Color mag_x_color = new Color(128, 0, 0);
+       static final private Color mag_y_color = new Color(0, 128, 0);
+       static final private Color mag_z_color = new Color(0, 0, 128);
+       static final private Color orient_color = new Color(31, 31, 31);
 
        static AltosVoltage voltage_units = new AltosVoltage();
        static AltosPressure pressure_units = new AltosPressure();
        static AltosNsat nsat_units = new AltosNsat();
        static AltosDbm dbm_units = new AltosDbm();
+       static AltosGyroUnits gyro_units = new AltosGyroUnits();
+       static AltosOrientUnits orient_units = new AltosOrientUnits();
+       static AltosMagUnits mag_units = new AltosMagUnits();
 
        AltosUIAxis     height_axis, speed_axis, accel_axis, voltage_axis, temperature_axis, nsat_axis, dbm_axis;
        AltosUIAxis     distance_axis, pressure_axis;
+       AltosUIAxis     gyro_axis, orient_axis, mag_axis;
 
        public AltosGraph(AltosUIEnable enable, AltosFlightStats stats, AltosGraphDataSet dataSet) {
                super(enable);
@@ -169,6 +252,10 @@ public class AltosGraph extends AltosUIGraph {
                dbm_axis = newAxis("Signal Strength", dbm_units, dbm_color, 0);
                distance_axis = newAxis("Distance", AltosConvert.distance, range_color);
 
+               gyro_axis = newAxis("Rotation Rate", gyro_units, gyro_z_color, 0);
+               orient_axis = newAxis("Tilt Angle", orient_units, orient_color, 0);
+               mag_axis = newAxis("Magnetic Field", mag_units, mag_x_color, 0);
+
                addMarker("State", AltosGraphDataPoint.data_state, state_color);
                addSeries("Height",
                          AltosGraphDataPoint.data_height,
@@ -260,6 +347,72 @@ public class AltosGraph extends AltosUIGraph {
                                  voltage_axis);
                }
 
+               if (stats.has_imu) {
+                       addSeries("Acceleration X",
+                                 AltosGraphDataPoint.data_accel_x,
+                                 AltosConvert.accel,
+                                 accel_x_color,
+                                 false,
+                                 accel_axis);
+                       addSeries("Acceleration Y",
+                                 AltosGraphDataPoint.data_accel_y,
+                                 AltosConvert.accel,
+                                 accel_y_color,
+                                 false,
+                                 accel_axis);
+                       addSeries("Acceleration Z",
+                                 AltosGraphDataPoint.data_accel_z,
+                                 AltosConvert.accel,
+                                 accel_z_color,
+                                 false,
+                                 accel_axis);
+                       addSeries("Rotation Rate X",
+                                 AltosGraphDataPoint.data_gyro_x,
+                                 gyro_units,
+                                 gyro_x_color,
+                                 false,
+                                 gyro_axis);
+                       addSeries("Rotation Rate Y",
+                                 AltosGraphDataPoint.data_gyro_y,
+                                 gyro_units,
+                                 gyro_y_color,
+                                 false,
+                                 gyro_axis);
+                       addSeries("Rotation Rate Z",
+                                 AltosGraphDataPoint.data_gyro_z,
+                                 gyro_units,
+                                 gyro_z_color,
+                                 false,
+                                 gyro_axis);
+               }
+               if (stats.has_mag) {
+                       addSeries("Magnetometer X",
+                                 AltosGraphDataPoint.data_mag_x,
+                                 mag_units,
+                                 mag_x_color,
+                                 false,
+                                 mag_axis);
+                       addSeries("Magnetometer Y",
+                                 AltosGraphDataPoint.data_mag_y,
+                                 mag_units,
+                                 mag_y_color,
+                                 false,
+                                 mag_axis);
+                       addSeries("Magnetometer Z",
+                                 AltosGraphDataPoint.data_mag_z,
+                                 mag_units,
+                                 mag_z_color,
+                                 false,
+                                 mag_axis);
+               }
+               if (stats.has_orient)
+                       addSeries("Tilt Angle",
+                                 AltosGraphDataPoint.data_orient,
+                                 orient_units,
+                                 orient_color,
+                                 false,
+                                 orient_axis);
+
                setDataSet(dataSet);
        }
 }
\ No newline at end of file

diff --git a/altosui/AltosGraphDataPoint.java b/altosui/AltosGraphDataPoint.java
index d8191f5d35199ab378188c5e071885031db2d47e..b2782459d28a16e33b65b760f57c1fe0c694803f 100644 (file)
--- a/altosui/AltosGraphDataPoint.java
+++ b/altosui/AltosGraphDataPoint.java
@@ -40,6 +40,16 @@ public class AltosGraphDataPoint implements AltosUIDataPoint {
        public static final int data_range = 13;
        public static final int data_distance = 14;
        public static final int data_pressure = 15;
+       public static final int data_accel_x = 16;
+       public static final int data_accel_y = 17;
+       public static final int data_accel_z = 18;
+       public static final int data_gyro_x = 19;
+       public static final int data_gyro_y = 20;
+       public static final int data_gyro_z = 21;
+       public static final int data_mag_x = 22;
+       public static final int data_mag_y = 23;
+       public static final int data_mag_z = 24;
+       public static final int data_orient = 25;
 
        public double x() throws AltosUIDataMissing {
                double  time = state.time_since_boost();
@@ -99,6 +109,58 @@ public class AltosGraphDataPoint implements AltosUIDataPoint {
                case data_pressure:
                        y = state.pressure();
                        break;
+                       
+               case data_accel_x:
+               case data_accel_y:
+               case data_accel_z:
+               case data_gyro_x:
+               case data_gyro_y:
+               case data_gyro_z:
+                       AltosIMU        imu = state.imu;
+                       if (imu == null)
+                               break;
+                       switch (index) {
+                       case data_accel_x:
+                               y = imu.accel_x;
+                               break;
+                       case data_accel_y:
+                               y = imu.accel_y;
+                               break;
+                       case data_accel_z:
+                               y = imu.accel_z;
+                               break;
+                       case data_gyro_x:
+                               y = imu.gyro_x;
+                               break;
+                       case data_gyro_y:
+                               y = imu.gyro_y;
+                               break;
+                       case data_gyro_z:
+                               y = imu.gyro_z;
+                               break;
+                       }
+                       break;
+               case data_mag_x:
+               case data_mag_y:
+               case data_mag_z:
+                       AltosMag        mag = state.mag;
+                       if (mag == null)
+                               break;
+                       switch (index) {
+                       case data_mag_x:
+                               y = mag.x;
+                               break;
+                       case data_mag_y:
+                               y = mag.y;
+                               break;
+                       case data_mag_z:
+                               y = mag.z;
+                               break;
+                       }
+                       break;
+               case data_orient:
+                       y = state.orient();
+                       break;
                }
                if (y == AltosLib.MISSING)
                        throw new AltosUIDataMissing(index);