From: Keith Packard <keithp@keithp.com>
Date: Tue, 9 Jun 2020 03:56:30 +0000 (-0700)
Subject: altoslib: six-axis support for easy timer
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=refs%2Fheads%2Feasytimer-sixaxis

altoslib: six-axis support for easy timer

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

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 7f8be403..07c99cfc 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -37,6 +37,8 @@ public class AltosIMU implements Cloneable {
 	public static final double	counts_per_g_mpu = 2048.0;
 	public static final double	counts_per_g_bmx = 2048.0;
 
+	int			pad_orientation;
+
 	private static double counts_per_g(int imu_type) {
 		switch (imu_type) {
 		case imu_type_telemega_v1_v2:
@@ -112,10 +114,16 @@ public class AltosIMU implements Cloneable {
 		return counts / counts_per_gauss(imu_type, imu_axis);
 	}
 
-	public boolean parse_string(String line) {
+	public boolean parse_string(String line, AltosLink link) {
 		if (!line.startsWith("Accel:"))
 			return false;
 
+		try {
+			pad_orientation = link.config_data().pad_orientation;
+		} catch (Exception e) {
+			return false;
+		}
+
 		String[] items = line.split("\\s+");
 
 		if (items.length >= 8) {
@@ -349,7 +357,7 @@ public class AltosIMU implements Cloneable {
 			if (line == null) {
 				throw new TimeoutException();
 			}
-			if (parse_string(line))
+			if (parse_string(line, link))
 				break;
 		}
 	}
diff --git a/altoslib/AltosRotation.java b/altoslib/AltosRotation.java
index 85e213b2..de840b4d 100644
--- a/altoslib/AltosRotation.java
+++ b/altoslib/AltosRotation.java
@@ -97,8 +97,22 @@ public class AltosRotation extends AltosQuaternion {
 			     double z,
 			     int pad_orientation) {
 		AltosQuaternion	orient = AltosQuaternion.vector(x, y, z).normalize();
-		double sky = (pad_orientation & 1) == 0 ? 1 : -1;
-		AltosQuaternion	up = new AltosQuaternion(0, 0, 0, sky);
+		double sky_x = 0;
+		double sky_y = 0;
+		double sky_z = 0;
+		double sky_sign = (pad_orientation & 1) == 0 ? 1 : -1;
+		switch (pad_orientation & ~1) {
+		case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
+			sky_z = sky_sign;
+			break;
+		case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
+			sky_y = sky_sign;
+			break;
+		case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
+			sky_x = sky_sign;
+			break;
+		}
+		AltosQuaternion	up = new AltosQuaternion(0, sky_x, sky_y, sky_z);
 		rotation = up.vectors_to_rotation(orient);
 	}
 
diff --git a/altosui/AltosConfigFCUI.java b/altosui/AltosConfigFCUI.java
index 5ff37366..826559c7 100644
--- a/altosui/AltosConfigFCUI.java
+++ b/altosui/AltosConfigFCUI.java
@@ -142,6 +142,9 @@ public class AltosConfigFCUI
 		"4250",
 	};
 
+	static String[]		pad_orientation_values_none = {
+	};
+
 	static String[] 	pad_orientation_values_radio = {
 		"Antenna Up",
 		"Antenna Down",
@@ -796,14 +799,8 @@ public class AltosConfigFCUI
 		c.anchor = GridBagConstraints.LINE_START;
 		c.insets = ir;
 		c.ipady = 5;
-		if (has_radio())
-			pad_orientation_values = pad_orientation_values_radio;
-		else if (is_easytimer())
-			pad_orientation_values = pad_orientation_values_six_axis;
-		else
-			pad_orientation_values = pad_orientation_values_no_radio;
 
-		pad_orientation_value = new JComboBox<String>(pad_orientation_values);
+		pad_orientation_value = new JComboBox<String>();
 		pad_orientation_value.setEditable(false);
 		pad_orientation_value.addItemListener(this);
 		pane.add(pad_orientation_value, c);
@@ -1105,13 +1102,27 @@ public class AltosConfigFCUI
 		listener = l;
 	}
 
+	void set_pad_orientation_values()
+	{
+		if (has_radio())
+			pad_orientation_values = pad_orientation_values_radio;
+		else if (is_easytimer())
+			pad_orientation_values = pad_orientation_values_six_axis;
+		else
+			pad_orientation_values = pad_orientation_values_no_radio;
+		pad_orientation_value.removeAllItems();
+		for (String s : pad_orientation_values)
+			pad_orientation_value.addItem(s);
+		set_pad_orientation_tool_tip();
+	}
+
 	/* set and get all of the dialog values */
 	public void set_product(String product) {
 		radio_frequency_value.set_product(product);
 		product_value.setText(product);
-		set_pad_orientation_tool_tip();
 		set_accel_tool_tips();
 		set_flight_log_max_tool_tip();
+		set_pad_orientation_values();
 	}
 
 	public void set_version(String version) {