Merge branch 'master' into branch-1.8

13 files changed, 209 insertions, 51 deletions

diff --git a/altoslib/AltosAccelCal.java b/altoslib/AltosAccelCal.java
index 03d9fbf2..f98090ef 100644
--- a/altoslib/AltosAccelCal.java
+++ b/altoslib/AltosAccelCal.java
@@ -174,22 +174,23 @@ public class AltosAccelCal implements Runnable {
 				if (worked)
 					new_config = new AltosConfigData(link);
 			} finally {
+				int plus = config_data.accel_cal_plus(config_data.pad_orientation);
+				int minus = config_data.accel_cal_minus(config_data.pad_orientation);
 				System.out.printf("Restore orientation %d +g %d -g %d\n",
 						  config_data.pad_orientation,
-						  config_data.accel_cal_plus,
-						  config_data.accel_cal_minus);
-				if (config_data.pad_orientation != AltosLib.MISSING && config_data.pad_orientation != 0)
+						  plus, minus);
+				if (config_data.pad_orientation != AltosLib.MISSING)
 					link.printf("c o %d\n", config_data.pad_orientation);
-				if (config_data.accel_cal_plus != AltosLib.MISSING && config_data.accel_cal_minus != AltosLib.MISSING)
-					link.printf("c a %d %d\n",
-						    config_data.accel_cal_plus, config_data.accel_cal_minus);
+				if (plus != AltosLib.MISSING && minus != AltosLib.MISSING)
+					link.printf("c a %d %d\n", plus, minus);
+				link.flush_output();
 				stop_link();
 			}
 			if (new_config != null) {
-				System.out.printf("*** +1g %d -1g %d\n",
-						  new_config.accel_cal_plus,
-						  new_config.accel_cal_minus);
-				listener.cal_done(this, new_config.accel_cal_plus, new_config.accel_cal_minus);
+				int plus = new_config.accel_cal_plus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP);
+				int minus = new_config.accel_cal_minus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP);
+				System.out.printf("*** +1g %d -1g %d\n", plus, minus);
+				listener.cal_done(this, plus, minus);
 				if (!wait_signal())
 					throw new InterruptedException("aborted");
 			} else
diff --git a/altoslib/AltosCalData.java b/altoslib/AltosCalData.java
index 03e2cbd7..5bc6c4fd 100644
--- a/altoslib/AltosCalData.java
+++ b/altoslib/AltosCalData.java
@@ -397,7 +397,7 @@ public class AltosCalData {
 		set_flight_params(config_data.apogee_delay / ticks_per_sec, config_data.apogee_lockout / ticks_per_sec);
 		set_pad_orientation(config_data.pad_orientation);
 		set_product(config_data.product);
-		set_accel_plus_minus(config_data.accel_cal_plus, config_data.accel_cal_minus);
+		set_accel_plus_minus(config_data.accel_cal_plus(config_data.pad_orientation), config_data.accel_cal_minus(config_data.pad_orientation));
 		set_accel_zero(config_data.accel_zero_along, config_data.accel_zero_across, config_data.accel_zero_through);
 		set_ms5607(config_data.ms5607);
 		try {
diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java
index dc036867..8d0bb479 100644
--- a/altoslib/AltosConfigData.java
+++ b/altoslib/AltosConfigData.java
@@ -22,6 +22,7 @@ import java.util.*;
 import java.text.*;
 import java.util.concurrent.*;
 
+/* Don't change the field names in this structure; they're part of all .eeprom files */
 public class AltosConfigData {
 
 	/* Version information */
@@ -53,6 +54,8 @@ public class AltosConfigData {
 
 	/* HAS_ACCEL */
 	public int	accel_cal_plus, accel_cal_minus;
+	private int	accel_cal_plus_cooked, accel_cal_minus_cooked;
+	private boolean	accel_cal_adjusted;
 	public int	pad_orientation;
 
 	/* HAS_LOG */
@@ -186,6 +189,23 @@ public class AltosConfigData {
 		}
 	}
 
+	public int invert_accel_value(int value) {
+		if (value == AltosLib.MISSING)
+			return AltosLib.MISSING;
+
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_FULL:
+			return 0x7fff - value;
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+		case AltosLib.AO_LOG_FORMAT_TELEMETRUM:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+			return 4095 - value;
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
 	public boolean has_monitor_battery() {
 		if (product.startsWith("TeleBT"))
 			return true;
@@ -252,9 +272,12 @@ public class AltosConfigData {
 		radio_setting = AltosLib.MISSING;
 		telemetry_rate = AltosLib.MISSING;
 
+		accel_cal_plus_cooked = AltosLib.MISSING;
+		accel_cal_minus_cooked = AltosLib.MISSING;
 		accel_cal_plus = AltosLib.MISSING;
 		accel_cal_minus = AltosLib.MISSING;
 		pad_orientation = AltosLib.MISSING;
+		accel_cal_adjusted = false;
 
 		flight_log_max = AltosLib.MISSING;
 		log_fixed = AltosLib.MISSING;
@@ -285,6 +308,59 @@ public class AltosConfigData {
 		accel_zero_through = AltosLib.MISSING;
 	}
 
+	/* Return + accel calibration relative to a specific pad orientation */
+	public int accel_cal_plus(int pad_orientation) {
+		adjust_accel_cal();
+		switch (pad_orientation) {
+		case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
+			return accel_cal_plus_cooked;
+		case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
+			return invert_accel_value(accel_cal_minus_cooked);
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	/* Return - accel calibration relative to a specific pad orientation */
+	public int accel_cal_minus(int pad_orientation) {
+		adjust_accel_cal();
+		switch (pad_orientation) {
+		case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
+			return accel_cal_minus_cooked;
+		case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
+			return invert_accel_value(accel_cal_plus_cooked);
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	/* Once we have all of the values from the config data, compute the
+	 * accel cal values relative to Antenna Up orientation.
+	 */
+	private void adjust_accel_cal() {
+		if (!accel_cal_adjusted &&
+		    pad_orientation != AltosLib.MISSING &&
+		    accel_cal_plus != AltosLib.MISSING &&
+		    accel_cal_minus != AltosLib.MISSING &&
+		    log_format != AltosLib.AO_LOG_FORMAT_UNKNOWN)
+		{
+			switch (pad_orientation) {
+			case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
+				accel_cal_plus_cooked = accel_cal_plus;
+				accel_cal_minus_cooked = accel_cal_minus;
+				accel_cal_adjusted = true;
+				break;
+			case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
+				accel_cal_plus_cooked = invert_accel_value(accel_cal_minus);
+				accel_cal_minus_cooked = invert_accel_value(accel_cal_plus);
+				accel_cal_adjusted = true;
+				break;
+			default:
+				break;
+			}
+		}
+	}
+
 	public void parse_line(String line) {
 
 		/* Version replies */
@@ -351,6 +427,7 @@ public class AltosConfigData {
 				if (bits.length >= 6) {
 					accel_cal_plus = Integer.parseInt(bits[3]);
 					accel_cal_minus = Integer.parseInt(bits[5]);
+					accel_cal_adjusted = false;
 				}
 			}
 		} catch (Exception e) {}
@@ -414,6 +491,9 @@ public class AltosConfigData {
 				}
 			}
 		} catch (Exception e) {}
+
+		/* Fix accel cal as soon as all of the necessary values appear */
+		adjust_accel_cal();
 	}
 
 	public AltosConfigData() {
@@ -525,11 +605,11 @@ public class AltosConfigData {
 		if (pad_orientation != AltosLib.MISSING)
 			pad_orientation = source.pad_orientation();
 
-		if (accel_cal_plus != AltosLib.MISSING)
-			accel_cal_plus = source.accel_cal_plus();
+		if (accel_cal_plus_cooked != AltosLib.MISSING)
+			accel_cal_plus_cooked = source.accel_cal_plus();
 
-		if (accel_cal_minus != AltosLib.MISSING)
-			accel_cal_minus = source.accel_cal_minus();
+		if (accel_cal_minus_cooked != AltosLib.MISSING)
+			accel_cal_minus_cooked = source.accel_cal_minus();
 
 		/* HAS_LOG */
 		if (flight_log_max != AltosLib.MISSING)
@@ -598,7 +678,8 @@ public class AltosConfigData {
 		dest.set_flight_log_max(flight_log_max);
 		dest.set_ignite_mode(ignite_mode);
 		dest.set_pad_orientation(pad_orientation);
-		dest.set_accel_cal(accel_cal_plus, accel_cal_minus);
+		dest.set_accel_cal(accel_cal_plus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP),
+				   accel_cal_minus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP));
 		dest.set_callsign(callsign);
 		if (npyro != AltosLib.MISSING)
 			dest.set_pyros(pyros);
@@ -676,10 +757,13 @@ public class AltosConfigData {
 			link.printf("c e %d\n", radio_enable);
 
 		/* HAS_ACCEL */
+		/* set orientation first so that we know how to set the accel cal */
 		if (pad_orientation != AltosLib.MISSING)
 			link.printf("c o %d\n", pad_orientation);
-		if (accel_cal_plus != AltosLib.MISSING && accel_cal_minus != AltosLib.MISSING)
-			link.printf("c a %d %d\n", accel_cal_plus, accel_cal_minus);
+		int plus = accel_cal_plus(pad_orientation);
+		int minus = accel_cal_minus(pad_orientation);
+		if (plus != AltosLib.MISSING && minus != AltosLib.MISSING)
+			link.printf("c a %d %d\n", plus, minus);
 
 		/* HAS_LOG */
 		if (flight_log_max != 0)
diff --git a/altoslib/AltosDebug.java b/altoslib/AltosDebug.java
index 24a25933..a44eb12f 100644
--- a/altoslib/AltosDebug.java
+++ b/altoslib/AltosDebug.java
@@ -264,8 +264,8 @@ public class AltosDebug {
 
 	public AltosRomconfig romconfig() throws InterruptedException {
 		try {
-			byte[] bytes = read_memory(0xa0, 10);
-			AltosHexfile hexfile = new AltosHexfile (bytes, 0xa0);
+			byte[] bytes = read_memory(0x00, 0x200);
+			AltosHexfile hexfile = new AltosHexfile (bytes, 0x00);
 			return new AltosRomconfig(hexfile);
 		} catch (IOException ie) {
 		}
diff --git a/altoslib/AltosFlightSeries.java b/altoslib/AltosFlightSeries.java
index d130d3ad..182bdd19 100644
--- a/altoslib/AltosFlightSeries.java
+++ b/altoslib/AltosFlightSeries.java
@@ -257,6 +257,15 @@ public class AltosFlightSeries extends AltosDataListener {
 
 	public AltosTimeSeries height_series;
 
+	public double max_height = AltosLib.MISSING;
+
+	public	void set_min_pressure(double pa) {
+		double ground_altitude = cal_data().ground_altitude;
+		if (ground_altitude != AltosLib.MISSING)
+			max_height = AltosConvert.pressure_to_altitude(pa) -
+				ground_altitude;
+	}
+
 	public static final String height_name = "Height";
 
 	public  void set_pressure(double pa) {
diff --git a/altoslib/AltosFlightStats.java b/altoslib/AltosFlightStats.java
index 6bb83581..2760321d 100644
--- a/altoslib/AltosFlightStats.java
+++ b/altoslib/AltosFlightStats.java
@@ -266,8 +266,8 @@ public class AltosFlightStats {
 			}
 		}
 
-		max_height = AltosLib.MISSING;
-		if (series.height_series != null)
+		max_height = series.max_height;
+		if (max_height == AltosLib.MISSING && series.height_series != null)
 			max_height = series.height_series.max().value;
 		max_gps_height = AltosLib.MISSING;
 		if (series.gps_height != null) {
diff --git a/altoslib/AltosHexfile.java b/altoslib/AltosHexfile.java
index 6aa98383..f2ab4bea 100644
--- a/altoslib/AltosHexfile.java
+++ b/altoslib/AltosHexfile.java
@@ -294,15 +294,19 @@ public class AltosHexfile {
 		if (usb_descriptors == null)
 			return -1;
 
-		/* Walk the descriptors looking for the device */
-		a = usb_descriptors.address;
-		while (get_u8(a+1) != AO_USB_DESC_DEVICE) {
-			int delta = get_u8(a);
-			a += delta;
-			if (delta == 0 || a >= max_address)
-				return -1;
+		try {
+			/* Walk the descriptors looking for the device */
+			a = usb_descriptors.address;
+			while (get_u8(a+1) != AO_USB_DESC_DEVICE) {
+				int delta = get_u8(a);
+				a += delta;
+				if (delta == 0 || a >= max_address)
+					return -1;
+			}
+			return a;
+		} catch (ArrayIndexOutOfBoundsException ae) {
+			return -1;
 		}
-		return a;
 	}
 
 	public AltosUsbId find_usb_id() {
diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index ba6f1a82..df81c9dd 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -22,13 +22,17 @@ import java.util.concurrent.*;
 import java.io.*;
 
 public class AltosIMU implements Cloneable {
-	public int		accel_x;
-	public int		accel_y;
-	public int		accel_z;
+	public int		accel_x = AltosLib.MISSING;
+	public int		accel_y = AltosLib.MISSING;
+	public int		accel_z = AltosLib.MISSING;
 
-	public int		gyro_x;
-	public int		gyro_y;
-	public int		gyro_z;
+	public int		gyro_x = AltosLib.MISSING;
+	public int		gyro_y = AltosLib.MISSING;
+	public int		gyro_z = AltosLib.MISSING;
+
+	public int		mag_x = AltosLib.MISSING;
+	public int		mag_y = AltosLib.MISSING;
+	public int		mag_z = AltosLib.MISSING;
 
 	public static final double	counts_per_g = 2048.0;
 
@@ -58,6 +62,11 @@ public class AltosIMU implements Cloneable {
 			gyro_y = Integer.parseInt(items[6]);
 			gyro_z = Integer.parseInt(items[7]);
 		}
+		if (items.length >= 12) {
+			mag_x = Integer.parseInt(items[9]);
+			mag_y = Integer.parseInt(items[10]);
+			mag_z = Integer.parseInt(items[11]);
+		}
 		return true;
 	}
 
@@ -71,6 +80,11 @@ public class AltosIMU implements Cloneable {
 		n.gyro_x = gyro_x;
 		n.gyro_y = gyro_y;
 		n.gyro_z = gyro_z;
+
+		n.mag_x = mag_x;
+		n.mag_y = mag_y;
+		n.mag_z = mag_z;
+
 		return n;
 	}
 
@@ -86,6 +100,11 @@ public class AltosIMU implements Cloneable {
 				listener.set_accel_ground(imu.accel_y,
 							  imu.accel_x,
 							  imu.accel_z);
+				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));
+				}
 			}
 		} catch (TimeoutException te) {
 		}
@@ -99,6 +118,10 @@ public class AltosIMU implements Cloneable {
 		gyro_x = AltosLib.MISSING;
 		gyro_y = AltosLib.MISSING;
 		gyro_z = AltosLib.MISSING;
+
+		mag_x = AltosLib.MISSING;
+		mag_y = AltosLib.MISSING;
+		mag_z = AltosLib.MISSING;
 	}
 
 	public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
diff --git a/altoslib/AltosIdleFetch.java b/altoslib/AltosIdleFetch.java
index 058df0a1..88a5dab4 100644
--- a/altoslib/AltosIdleFetch.java
+++ b/altoslib/AltosIdleFetch.java
@@ -133,12 +133,30 @@ public class AltosIdleFetch implements AltosDataProvider {
 			       AltosIdler.idle_ms5607,
 			       AltosIdler.idle_sensor_metrum),
 
-		new AltosIdler("TeleMega",
+		new AltosIdler("TeleMega-v0",
 			       AltosIdler.idle_gps,
 			       AltosIdler.idle_mma655x,
 			       AltosIdler.idle_ms5607,
 			       AltosIdler.idle_imu, AltosIdler.idle_mag,
 			       AltosIdler.idle_sensor_mega),
+		new AltosIdler("TeleMega-v1",
+			       AltosIdler.idle_gps,
+			       AltosIdler.idle_mma655x,
+			       AltosIdler.idle_ms5607,
+			       AltosIdler.idle_imu, AltosIdler.idle_mag,
+			       AltosIdler.idle_sensor_mega),
+		new AltosIdler("TeleMega-v2",
+			       AltosIdler.idle_gps,
+			       AltosIdler.idle_mma655x,
+			       AltosIdler.idle_ms5607,
+			       AltosIdler.idle_imu, AltosIdler.idle_mag,
+			       AltosIdler.idle_sensor_mega),
+		new AltosIdler("TeleMega-v3",
+			       AltosIdler.idle_gps,
+			       AltosIdler.idle_mma655x,
+			       AltosIdler.idle_ms5607,
+			       AltosIdler.idle_imu,
+			       AltosIdler.idle_sensor_mega),
 		new AltosIdler("EasyMega",
 			       AltosIdler.idle_mma655x,
 			       AltosIdler.idle_ms5607,
diff --git a/altoslib/AltosLib.java b/altoslib/AltosLib.java
index c25a6273..7d2b68e0 100644
--- a/altoslib/AltosLib.java
+++ b/altoslib/AltosLib.java
@@ -348,6 +348,9 @@ public class AltosLib {
 	public static final int AO_GPS_NUM_SAT_SHIFT = 0;
 	public static final int AO_GPS_NUM_SAT_MASK = 0xf;
 
+	public static final int AO_PAD_ORIENTATION_ANTENNA_UP = 0;
+	public static final int AO_PAD_ORIENTATION_ANTENNA_DOWN = 1;
+
 	public static final int AO_LOG_FORMAT_UNKNOWN = 0;
 	public static final int AO_LOG_FORMAT_FULL = 1;
 	public static final int AO_LOG_FORMAT_TINY = 2;
diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java
index 829a1a63..3ad34891 100644
--- a/altoslib/AltosLink.java
+++ b/altoslib/AltosLink.java
@@ -339,9 +339,22 @@ public abstract class AltosLink implements Runnable {
 
 
 	public void flush_input() throws InterruptedException {
-		if (remote)
-			flush_input(500);
-		else
+		if (remote) {
+			int timeout = 500;
+			switch (telemetry_rate) {
+			case AltosLib.ao_telemetry_rate_38400:
+			default:
+				timeout = 500;
+				break;
+			case AltosLib.ao_telemetry_rate_9600:
+				timeout = 1000;
+				break;
+			case AltosLib.ao_telemetry_rate_2400:
+				timeout = 2000;
+				break;
+			}
+			flush_input(timeout);
+		} else
 			flush_input(100);
 	}
 
diff --git a/altoslib/AltosPyro.java b/altoslib/AltosPyro.java
index 0ea3bfc1..fea4fd59 100644
--- a/altoslib/AltosPyro.java
+++ b/altoslib/AltosPyro.java
@@ -29,24 +29,24 @@ public class AltosPyro {
 	public static final int pyro_accel_greater		= 0x00000002;
 	public static final String pyro_accel_less_string	= "a<";
 	public static final String pyro_accel_greater_string	= "a>";
-	public static final String pyro_accel_less_name		= "Acceleration less than";
-	public static final String pyro_accel_greater_name	= "Acceleration greater than";
+	public static final String pyro_accel_less_name		= "Vertical acceleration less than";
+	public static final String pyro_accel_greater_name	= "Vertical acceleration greater than";
 	public static final double pyro_accel_scale		= 16.0;
 
 	public static final int pyro_speed_less			= 0x00000004;
 	public static final int pyro_speed_greater		= 0x00000008;
 	public static final String pyro_speed_less_string	= "s<";
 	public static final String pyro_speed_greater_string	= "s>";
-	public static final String pyro_speed_less_name		= "Speed less than";
-	public static final String pyro_speed_greater_name	= "Speed greater than";
+	public static final String pyro_speed_less_name		= "Ascent rate less than";
+	public static final String pyro_speed_greater_name	= "Ascent rate greater than";
 	public static final double pyro_speed_scale		= 16.0;
 
 	public static final int pyro_height_less		= 0x00000010;
 	public static final int pyro_height_greater		= 0x00000020;
 	public static final String pyro_height_less_string	= "h<";
 	public static final String pyro_height_greater_string	= "h>";
-	public static final String pyro_height_less_name	= "Height less than";
-	public static final String pyro_height_greater_name	= "Height greater than";
+	public static final String pyro_height_less_name	= "Height above pad less than";
+	public static final String pyro_height_greater_name	= "Height above pad greater than";
 	public static final double pyro_height_scale		= 1.0;
 
 	public static final int pyro_orient_less		= 0x00000040;
@@ -61,8 +61,8 @@ public class AltosPyro {
 	public static final int pyro_time_greater		= 0x00000200;
 	public static final String pyro_time_less_string	= "t<";
 	public static final String pyro_time_greater_string	= "t>";
-	public static final String pyro_time_less_name		= "Time since boost less than (s)";
-	public static final String pyro_time_greater_name	= "Time since boost greater than (s)";
+	public static final String pyro_time_less_name		= "Time since launch less than (s)";
+	public static final String pyro_time_greater_name	= "Time since launch greater than (s)";
 	public static final double pyro_time_scale		= 100.0;
 
 	public static final int pyro_ascending			= 0x00000400;
@@ -90,7 +90,10 @@ public class AltosPyro {
 	public static final String pyro_state_greater_or_equal_name	= "Flight state after";
 	public static final double pyro_state_scale		= 1.0;
 
+	public static final int pyro_deprecate			= pyro_ascending | pyro_descending;
+
 	public static final int	pyro_all			= 0x0000ffff;
+	public static final int pyro_all_useful			= pyro_all ^ pyro_deprecate;
 
 	public static final int pyro_no_value			= (pyro_ascending |
 								   pyro_descending);
diff --git a/altoslib/AltosRomconfig.java b/altoslib/AltosRomconfig.java
index 1fbb4115..44a3fa60 100644
--- a/altoslib/AltosRomconfig.java
+++ b/altoslib/AltosRomconfig.java
@@ -35,12 +35,12 @@ public class AltosRomconfig {
 			System.out.printf("no symbol %s\n", name);
 			throw new AltosNoSymbol(name);
 		}
-		if (hexfile.address <= symbol.address && symbol.address + len < hexfile.max_address) {
+		if (hexfile.address <= symbol.address && symbol.address + len <= hexfile.max_address) {
 			System.out.printf("%s: %x\n", name, symbol.address);
 			return symbol.address;
 		}
-		System.out.printf("invalid symbol addr %x range is %x - %x\n",
-				  symbol.address, hexfile.address, hexfile.max_address);
+		System.out.printf("invalid symbol addr %x len %d range is %x - %x\n",
+				  symbol.address, len, hexfile.address, hexfile.max_address);
 		throw new AltosNoSymbol(name);
 	}