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-rw-r--r--altoslib/AltosAccelCal.java20
-rw-r--r--altoslib/AltosCalData.java2
-rw-r--r--altoslib/AltosConfigData.java105
-rw-r--r--altoslib/AltosLib.java3
4 files changed, 107 insertions, 23 deletions
diff --git a/altoslib/AltosAccelCal.java b/altoslib/AltosAccelCal.java
index 75592d9e..f98090ef 100644
--- a/altoslib/AltosAccelCal.java
+++ b/altoslib/AltosAccelCal.java
@@ -174,23 +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..35a8602d 100644
--- a/altoslib/AltosConfigData.java
+++ b/altoslib/AltosConfigData.java
@@ -52,7 +52,9 @@ public class AltosConfigData {
public int radio_setting;
/* HAS_ACCEL */
- public int accel_cal_plus, accel_cal_minus;
+ private int accel_cal_plus_raw, accel_cal_minus_raw;
+ private int accel_cal_plus_cooked, accel_cal_minus_cooked;
+ private boolean accel_cal_adjusted;
public int pad_orientation;
/* HAS_LOG */
@@ -186,6 +188,23 @@ 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 +271,12 @@ public class AltosConfigData {
radio_setting = AltosLib.MISSING;
telemetry_rate = AltosLib.MISSING;
- accel_cal_plus = AltosLib.MISSING;
- accel_cal_minus = AltosLib.MISSING;
+ accel_cal_plus_cooked = AltosLib.MISSING;
+ accel_cal_minus_cooked = AltosLib.MISSING;
+ accel_cal_plus_raw = AltosLib.MISSING;
+ accel_cal_minus_raw = AltosLib.MISSING;
pad_orientation = AltosLib.MISSING;
+ accel_cal_adjusted = false;
flight_log_max = AltosLib.MISSING;
log_fixed = AltosLib.MISSING;
@@ -285,6 +307,57 @@ 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) {
+ 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) {
+ 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_raw != AltosLib.MISSING &&
+ accel_cal_minus_raw != 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_raw;
+ accel_cal_minus_cooked = accel_cal_minus_raw;
+ accel_cal_adjusted = true;
+ break;
+ case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
+ accel_cal_plus_cooked = invert_accel_value(accel_cal_minus_raw);
+ accel_cal_minus_cooked = invert_accel_value(accel_cal_plus_raw);
+ accel_cal_adjusted = true;
+ break;
+ default:
+ break;
+ }
+ }
+ }
+
public void parse_line(String line) {
/* Version replies */
@@ -349,8 +422,9 @@ public class AltosConfigData {
if (line.startsWith("Accel cal")) {
String[] bits = line.split("\\s+");
if (bits.length >= 6) {
- accel_cal_plus = Integer.parseInt(bits[3]);
- accel_cal_minus = Integer.parseInt(bits[5]);
+ accel_cal_plus_raw = Integer.parseInt(bits[3]);
+ accel_cal_minus_raw = Integer.parseInt(bits[5]);
+ accel_cal_adjusted = false;
}
}
} catch (Exception e) {}
@@ -414,6 +488,9 @@ 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 +602,11 @@ 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 +675,8 @@ 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 +754,13 @@ 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/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;
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-15 22:36:01 +0000