diff options
| -rw-r--r-- | altoslib/AltosIMU.java | 72 |
1 files changed, 30 insertions, 42 deletions
diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java index b434e02e..407ed4bb 100644 --- a/altoslib/AltosIMU.java +++ b/altoslib/AltosIMU.java @@ -22,13 +22,13 @@ import java.util.concurrent.*; import java.io.*; public class AltosIMU implements Cloneable { - public int accel_along; - public int accel_across; - public int accel_through; + public int accel_x; + public int accel_y; + public int accel_z; - public int gyro_roll; - public int gyro_pitch; - public int gyro_yaw; + public int gyro_x; + public int gyro_y; + public int gyro_z; public static final double counts_per_g = 2048.0; @@ -51,12 +51,12 @@ public class AltosIMU implements Cloneable { String[] items = line.split("\\s+"); if (items.length >= 8) { - accel_along = Integer.parseInt(items[1]); - accel_across = Integer.parseInt(items[2]); - accel_through = Integer.parseInt(items[3]); - gyro_roll = Integer.parseInt(items[5]); - gyro_pitch = Integer.parseInt(items[6]); - gyro_yaw = Integer.parseInt(items[7]); + accel_x = Integer.parseInt(items[1]); + accel_y = Integer.parseInt(items[2]); + accel_z = Integer.parseInt(items[3]); + gyro_x = Integer.parseInt(items[5]); + gyro_y = Integer.parseInt(items[6]); + gyro_z = Integer.parseInt(items[7]); } return true; } @@ -64,13 +64,13 @@ public class AltosIMU implements Cloneable { public AltosIMU clone() { AltosIMU n = new AltosIMU(); - n.accel_along = accel_along; - n.accel_across = accel_across; - n.accel_through = accel_through; + n.accel_x = accel_x; + n.accel_y = accel_y; + n.accel_z = accel_z; - n.gyro_roll = gyro_roll; - n.gyro_pitch = gyro_pitch; - n.gyro_yaw = gyro_yaw; + n.gyro_x = gyro_x; + n.gyro_y = gyro_y; + n.gyro_z = gyro_z; return n; } @@ -79,37 +79,25 @@ public class AltosIMU implements Cloneable { AltosIMU imu = new AltosIMU(link); if (imu != null) { - listener.set_accel(cal_data.accel_along(imu.accel_along), - cal_data.accel_across(imu.accel_across), - cal_data.accel_through(imu.accel_through)); - listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll), - cal_data.gyro_pitch(imu.gyro_pitch), - cal_data.gyro_yaw(imu.gyro_yaw)); + listener.set_gyro(cal_data.gyro_roll(imu.gyro_y), + cal_data.gyro_pitch(imu.gyro_x), + cal_data.gyro_yaw(imu.gyro_z)); + listener.set_accel_ground(cal_data.accel_along(imu.accel_y), + cal_data.accel_across(imu.accel_x), + cal_data.accel_through(imu.accel_z)); } } catch (TimeoutException te) { } } public AltosIMU() { - accel_along = AltosLib.MISSING; - accel_across = AltosLib.MISSING; - accel_through = AltosLib.MISSING; + accel_x = AltosLib.MISSING; + accel_y = AltosLib.MISSING; + accel_z = AltosLib.MISSING; - gyro_roll = AltosLib.MISSING; - gyro_pitch = AltosLib.MISSING; - gyro_yaw = AltosLib.MISSING; - } - - public AltosIMU(int accel_along, int accel_across, int accel_through, - int gyro_roll, int gyro_pitch, int gyro_yaw) { - - this.accel_along = accel_along; - this.accel_across = accel_across; - this.accel_through = accel_through; - - this.gyro_roll = gyro_roll; - this.gyro_pitch = gyro_pitch; - this.gyro_yaw = gyro_yaw; + gyro_x = AltosLib.MISSING; + gyro_y = AltosLib.MISSING; + gyro_z = AltosLib.MISSING; } public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException { |