diff options
| -rw-r--r-- | altoslib/AltosState.java | 39 |
1 files changed, 22 insertions, 17 deletions
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index 036c1652..a75c240c 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -677,9 +677,6 @@ public class AltosState extends AltosDataListener { public AltosGPS gps; public boolean gps_pending; - public AltosIMU imu; - public AltosMag mag; - public static final int MIN_PAD_SAMPLES = 10; public int npad; @@ -690,6 +687,7 @@ public class AltosState extends AltosDataListener { public AltosGreatCircle from_pad; public double elevation; /* from pad */ + public double distance; /* distance along ground */ public double range; /* total distance */ public double gps_height; @@ -746,21 +744,31 @@ public class AltosState extends AltosDataListener { gps = null; gps_pending = false; - imu = null; last_imu_time = AltosLib.MISSING; rotation = null; - mag = null; - accel_ground_along = AltosLib.MISSING; accel_ground_across = AltosLib.MISSING; accel_ground_through = AltosLib.MISSING; + accel_along = AltosLib.MISSING; + accel_across = AltosLib.MISSING; + accel_through = AltosLib.MISSING; + + gyro_roll = AltosLib.MISSING; + gyro_pitch = AltosLib.MISSING; + gyro_yaw = AltosLib.MISSING; + + mag_along = AltosLib.MISSING; + mag_across = AltosLib.MISSING; + mag_through = AltosLib.MISSING; + set_npad(0); ngps = 0; from_pad = null; elevation = AltosLib.MISSING; + distance = AltosLib.MISSING; range = AltosLib.MISSING; gps_height = AltosLib.MISSING; @@ -803,6 +811,7 @@ public class AltosState extends AltosDataListener { void update_gps() { elevation = AltosLib.MISSING; + distance = AltosLib.MISSING; range = AltosLib.MISSING; if (gps == null) @@ -844,6 +853,7 @@ public class AltosState extends AltosDataListener { h = 0; from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h); elevation = from_pad.elevation; + distance = from_pad.distance; range = from_pad.range; } } @@ -894,7 +904,6 @@ public class AltosState extends AltosDataListener { } } - public AltosRotation rotation; public double accel_ground_along, accel_ground_across, accel_ground_through; @@ -922,9 +931,9 @@ public class AltosState extends AltosDataListener { if (last_imu_time != AltosLib.MISSING) { double t = time - last_imu_time; - double pitch = AltosConvert.degrees_to_radians(gyro_pitch()); - double yaw = AltosConvert.degrees_to_radians(gyro_yaw()); - double roll = AltosConvert.degrees_to_radians(gyro_roll()); + double pitch = AltosConvert.degrees_to_radians(gyro_pitch); + double yaw = AltosConvert.degrees_to_radians(gyro_yaw); + double roll = AltosConvert.degrees_to_radians(gyro_roll); if (t > 0 && pitch != AltosLib.MISSING && rotation != null) { rotation.rotate(t, pitch, yaw, roll); @@ -939,7 +948,7 @@ public class AltosState extends AltosDataListener { public void set_gyro(double roll, double pitch, double yaw) { gyro_roll = roll; gyro_pitch = pitch; - gyro_roll = yaw; + gyro_yaw = yaw; update_orient(); } @@ -989,15 +998,11 @@ public class AltosState extends AltosDataListener { } public double mag_across() { - if (mag != null) - return AltosMag.convert_gauss(mag.across); - return AltosLib.MISSING; + return mag_across; } public double mag_through() { - if (mag != null) - return AltosMag.convert_gauss(mag.through); - return AltosLib.MISSING; + return mag_through; } public void set_companion(AltosCompanion companion) { |