Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 87570a79a5458ec580198c714f56d3c92c39e78a..b4ba5a563e08c3b3f768dd9cad3b837eae4249db 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -22,37 +22,37 @@ import java.util.concurrent.*;
 import java.io.*;
 
 public class AltosIMU implements Cloneable {
-       public int              accel_x = AltosLib.MISSING;
-       public int              accel_y = AltosLib.MISSING;
-       public int              accel_z = AltosLib.MISSING;
+       private int             accel_x = AltosLib.MISSING;
+       private int             accel_y = AltosLib.MISSING;
+       private int             accel_z = AltosLib.MISSING;
 
-       public int              accel_along = AltosLib.MISSING;
-       public int              accel_across = AltosLib.MISSING;
-       public int              accel_through = AltosLib.MISSING;
+       private int             accel_along = AltosLib.MISSING;
+       private int             accel_across = AltosLib.MISSING;
+       private int             accel_through = AltosLib.MISSING;
 
-       public int              gyro_x = AltosLib.MISSING;
-       public int              gyro_y = AltosLib.MISSING;
-       public int              gyro_z = AltosLib.MISSING;
+       private int             gyro_x = AltosLib.MISSING;
+       private int             gyro_y = AltosLib.MISSING;
+       private int             gyro_z = AltosLib.MISSING;
 
-       public int              gyro_roll = AltosLib.MISSING;
-       public int              gyro_pitch = AltosLib.MISSING;
-       public int              gyro_yaw = AltosLib.MISSING;
+       private int             gyro_roll = AltosLib.MISSING;
+       private int             gyro_pitch = AltosLib.MISSING;
+       private int             gyro_yaw = AltosLib.MISSING;
 
-       public int              mag_x = AltosLib.MISSING;
-       public int              mag_y = AltosLib.MISSING;
-       public int              mag_z = AltosLib.MISSING;
+       private int             mag_x = AltosLib.MISSING;
+       private int             mag_y = AltosLib.MISSING;
+       private int             mag_z = AltosLib.MISSING;
 
-       public int              mag_along = AltosLib.MISSING;
-       public int              mag_across = AltosLib.MISSING;
-       public int              mag_through = AltosLib.MISSING;
+       private int             mag_along = AltosLib.MISSING;
+       private int             mag_across = AltosLib.MISSING;
+       private int             mag_through = AltosLib.MISSING;
 
-       public int              imu_model = AltosLib.MISSING;
-       public int              mag_model = AltosLib.MISSING;
+       private int             imu_model = AltosLib.MISSING;
+       private int             mag_model = AltosLib.MISSING;
 
-       public static final double      counts_per_g_mpu = 2048.0;
-       public static final double      counts_per_g_bmx = 2048.0;
-       public static final double      counts_per_g_adxl = 20.5;
-       public static final double      counts_per_g_bmi088 = 1365.0;
+       private static final double     counts_per_g_mpu = 2048.0;
+       private static final double     counts_per_g_bmx = 2048.0;
+       private static final double     counts_per_g_adxl = 20.5;
+       private static final double     counts_per_g_bmi088 = 1365.0;
 
        private static double counts_per_g(int imu_type, int imu_model) {
                switch (imu_model) {
@@ -90,13 +90,13 @@ public class AltosIMU implements Cloneable {
                return counts / cpg * AltosConvert.gravity;
        }
 
-       public static final double      GYRO_FULLSCALE_DEGREES_MPU = 2000.0;
-       public static final double      GYRO_COUNTS_MPU = 32767.0;
-       public static final double      counts_per_degree_mpu = GYRO_COUNTS_MPU / GYRO_FULLSCALE_DEGREES_MPU;
-       public static final double      GYRO_FULLSCALE_DEGREES_BMX = 2000.0;
-       public static final double      GYRO_COUNTS_BMX = 32767.0;
-       public static final double      counts_per_degree_bmx = GYRO_COUNTS_BMX / GYRO_FULLSCALE_DEGREES_BMX;
-       public static final double      counts_per_degree_bmi088 = 16.384;
+       private static final double     GYRO_FULLSCALE_DEGREES_MPU = 2000.0;
+       private static final double     GYRO_COUNTS_MPU = 32767.0;
+       private static final double     counts_per_degree_mpu = GYRO_COUNTS_MPU / GYRO_FULLSCALE_DEGREES_MPU;
+       private static final double     GYRO_FULLSCALE_DEGREES_BMX = 2000.0;
+       private static final double     GYRO_COUNTS_BMX = 32767.0;
+       private static final double     counts_per_degree_bmx = GYRO_COUNTS_BMX / GYRO_FULLSCALE_DEGREES_BMX;
+       private static final double     counts_per_degree_bmi088 = 16.384;
 
        private static double counts_per_degree(int imu_type, int imu_model) {
                switch (imu_model) {
@@ -131,11 +131,11 @@ public class AltosIMU implements Cloneable {
                return counts / cpd;
        }
 
-       public static final double MAG_FULLSCALE_GAUSS_MPU = 48.00;     /* 4800µT */
-       public static final double MAG_COUNTS_MPU = 32767.0;
-       public static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU;
+       private static final double MAG_FULLSCALE_GAUSS_MPU = 48.00;    /* 4800µT */
+       private static final double MAG_COUNTS_MPU = 32767.0;
+       private static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU;
 
-       public static final double counts_per_gauss_bmx = 100.0;        /* BMX driver converts to µT */
+       private static final double counts_per_gauss_bmx = 100.0;       /* BMX driver converts to µT */
 
        public static double counts_per_gauss(int imu_type, int imu_model) {
                switch (imu_model) {
@@ -156,7 +156,7 @@ public class AltosIMU implements Cloneable {
                return AltosLib.MISSING;
        }
 
-       public boolean parse_string(String line) {
+       private boolean parse_string(String line) {
                if (line.startsWith("Accel:")) {
 
                        String[] items = line.split("\\s+");

diff --git a/src/easymega-v3.0/ao_pins.h b/src/easymega-v3.0/ao_pins.h
index 863909d553342c140f56f823835893cbbb8ccdb8..2fa4fd011c64c8114446b21bcd6a059f7c6588e6 100644 (file)
--- a/src/easymega-v3.0/ao_pins.h
+++ b/src/easymega-v3.0/ao_pins.h
@@ -177,7 +177,7 @@ struct ao_adc {
 };
 
 #define AO_ADC_DUMP(p) \
-       printf("tick: %5u A: %5d B: %5d C: %5d D: %5d drogue: %5d main: %5d batt: %5d pbatt: %5d temp: %5d\n", \
+       printf("tick: %5lu A: %5d B: %5d C: %5d D: %5d drogue: %5d main: %5d batt: %5d pbatt: %5d temp: %5d\n", \
               (p)->tick, \
               (p)->adc.sense[0], (p)->adc.sense[1], (p)->adc.sense[2], \
               (p)->adc.sense[3], (p)->adc.sense[4], (p)->adc.sense[5], \

diff --git a/src/telemega-v5.0/ao_pins.h b/src/telemega-v5.0/ao_pins.h
index 3f2c9ea44e5365a8c7862499c874b21a8c6a7d50..01774519f2cc1b461468b47860d8b323400855d9 100644 (file)
--- a/src/telemega-v5.0/ao_pins.h
+++ b/src/telemega-v5.0/ao_pins.h
@@ -329,22 +329,27 @@ struct ao_adc {
 
 
 /*
+ * Here are the required sensor signs:
  *
- * If the board is laying component side up with
- * the antenna (nose) pointing north
+ * +along      nose up
+ * +across     USB down
+ * +through    TH down
  *
- * +along      north   +roll   left up
- * +across     west    +pitch  nose down
- * +through    up      +yaw    left turn
+ * With the board aligned to have positive accel for the relevant
+ * axis, looking down from above we have:
+ *
+ * +roll       counter clockwise (nose up)
+ * +pitch      counter clockwise (USB down)
+ * +yaw                counter clockwise (TH down)
  */
 
 /*
- * mpu6000
- *
- *     pin 1 NW corner of chip
+ * On TMega v5, MPU6000 pin 1 (NW corner of chip) is placed towards
+ * the USB and antenna edges of the board. Relative to MPU6000 specs,
+ * we don't need to change any signs and so the correct values are:
  *
  *     +along          +Y      +roll   +Y
- *     +across         -X      +pitch  -X
+ *     +across         +X      +pitch  +X
  *     +through        +Z      +yaw    +Z
  *
  */
@@ -358,11 +363,11 @@ struct ao_adc {
 #define HAS_IMU                        1
 
 #define ao_mpu6000_along(m)    ((m)->accel_y)
-#define ao_mpu6000_across(m)   (-(m)->accel_x)
+#define ao_mpu6000_across(m)   ((m)->accel_x)
 #define ao_mpu6000_through(m)  ((m)->accel_z)
 
 #define ao_mpu6000_roll(m)     ((m)->gyro_y)
-#define ao_mpu6000_pitch(m)    (-(m)->gyro_x)
+#define ao_mpu6000_pitch(m)    ((m)->gyro_x)
 #define ao_mpu6000_yaw(m)      ((m)->gyro_z)
 
 #define ao_data_along(packet)  ao_mpu6000_along(&(packet)->mpu6000)

diff --git a/src/telemega-v6.0/ao_pins.h b/src/telemega-v6.0/ao_pins.h
index 89af7ed2135107c95af3fc5459a43f00b500bd24..2518e6ba45785bae1827d60fbfa0fbc0a26032ac 100644 (file)
--- a/src/telemega-v6.0/ao_pins.h
+++ b/src/telemega-v6.0/ao_pins.h
@@ -327,18 +327,25 @@ struct ao_adc {
 
 /*
  *
- * If the board is laying component side up with
- * the antenna (nose) pointing north
+ * Here are the required sensor signs:
  *
- * +along      north   +roll   left up
- * +across     west    +pitch  nose down
- * +through    up      +yaw    left turn
+ * +along      nose up
+ * +across     USB down
+ * +through    TH down
+ *
+ * With the board aligned to have positive accel for the relevant
+ * axis, looking down from above we have:
+ *
+ * +roll       counter clockwise (nose up)
+ * +pitch      counter clockwise (USB down)
+ * +yaw                counter clockwise (TH down)
  */
 
 /*
- * bmi088
- *
- *     pin 1 NE corner of chip
+ * On TMega v6, bmi088 pin 1 (NE corner of chip) is placed towards the
+ * USB and antenna edges of the board. Relative to bmi088 specs, to
+ * get the above values, we need to flip the Y axis, assigning values
+ * as follows:
  *
  *     +along          +X      +roll   +X
  *     +across         -Y      +pitch  -Y
@@ -354,11 +361,11 @@ struct ao_adc {
 #define HAS_IMU                        1
 
 #define ao_bmi088_along(m)     ((m)->acc.x)
-#define ao_bmi088_across(m)    ((m)->acc.y)
+#define ao_bmi088_across(m)    (-(m)->acc.y)
 #define ao_bmi088_through(m)   ((m)->acc.z)
 
 #define ao_bmi088_roll(m)      ((m)->gyr.x)
-#define ao_bmi088_pitch(m)     ((m)->gyr.y)
+#define ao_bmi088_pitch(m)     (-(m)->gyr.y)
 #define ao_bmi088_yaw(m)       ((m)->gyr.z)
 
 #define ao_data_along(packet)  ao_bmi088_along(&(packet)->bmi088)