diff options
Diffstat (limited to 'altoslib/AltosEepromRecordMega.java')
| -rw-r--r-- | altoslib/AltosEepromRecordMega.java | 92 |
1 files changed, 56 insertions, 36 deletions
diff --git a/altoslib/AltosEepromRecordMega.java b/altoslib/AltosEepromRecordMega.java index 3c5f60b3..371810ab 100644 --- a/altoslib/AltosEepromRecordMega.java +++ b/altoslib/AltosEepromRecordMega.java @@ -109,12 +109,13 @@ public class AltosEepromRecordMega extends AltosEepromRecord { private int svid(int n) { return data8(2 + n * 2); } private int c_n(int n) { return data8(2 + n * 2 + 1); } - public void update_state(AltosFlightListener state) { - super.update_state(state); + public void provide_data(AltosDataListener listener, AltosCalData cal_data) { + super.provide_data(listener, cal_data); + AltosGPS gps; /* Flush any pending GPS changes */ - if (state.gps_pending()) { + if (cal_data.gps_pending()) { switch (cmd()) { case AltosLib.AO_LOG_GPS_LAT: case AltosLib.AO_LOG_GPS_LON: @@ -123,66 +124,85 @@ public class AltosEepromRecordMega extends AltosEepromRecord { case AltosLib.AO_LOG_GPS_DATE: break; default: - state.set_temp_gps(); + listener.set_gps(cal_data.temp_gps()); + cal_data.reset_temp_gps(); break; } } switch (cmd()) { case AltosLib.AO_LOG_FLIGHT: - state.set_flight(flight()); - state.set_ground_accel(ground_accel()); - state.set_ground_pressure(ground_pres()); - state.set_accel_ground(ground_accel_along(), - ground_accel_across(), - ground_accel_through()); - state.set_gyro_zero(ground_roll() / 512.0, - ground_pitch() / 512.0, - ground_yaw() / 512.0); + cal_data.set_flight(flight()); + cal_data.set_ground_accel(ground_accel()); + cal_data.set_ground_pressure(ground_pres()); + listener.set_accel_ground(ground_accel_along(), + ground_accel_across(), + ground_accel_through()); + cal_data.set_gyro_zero(ground_roll() / 512.0, + ground_pitch() / 512.0, + ground_yaw() / 512.0); break; case AltosLib.AO_LOG_STATE: - state.set_state(state()); + listener.set_state(state()); break; case AltosLib.AO_LOG_SENSOR: - state.set_ms5607(pres(), temp()); - - AltosIMU imu = new AltosIMU(accel_y(), /* along */ - accel_x(), /* across */ - accel_z(), /* through */ - gyro_y(), /* roll */ - gyro_x(), /* pitch */ - gyro_z()); /* yaw */ + AltosConfigData config_data = eeprom.config_data(); + AltosPresTemp pt = config_data.ms5607().pres_temp(pres(), temp());; + listener.set_pressure(pt.pres); + listener.set_temperature(pt.temp); + + int accel_along = accel_y(); + int accel_across = accel_x(); + int accel_through = accel_z(); + int gyro_roll = gyro_y(); + int gyro_pitch = gyro_x(); + int gyro_yaw = gyro_z(); + + int mag_along = mag_x(); + int mag_across = mag_y(); + int mag_through = mag_z(); if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD) - state.check_imu_wrap(imu); + cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw); + + listener.set_accel(cal_data.accel_along(accel_along), + cal_data.accel_across(accel_across), + cal_data.accel_through(accel_through)); + listener.set_gyro(cal_data.gyro_roll(gyro_roll), + cal_data.gyro_pitch(gyro_pitch), + cal_data.gyro_yaw(gyro_yaw)); - state.set_imu(imu); + listener.set_mag(cal_data.mag_along(mag_along), + cal_data.mag_across(mag_across), + cal_data.mag_through(mag_through)); - state.set_mag(new AltosMag(mag_x(), - mag_y(), - mag_z())); - state.set_accel(accel()); + double acceleration = AltosConvert.acceleration_from_sensor( + accel(), + config_data.accel_cal_plus, + config_data.accel_cal_minus, + AltosLib.MISSING); + listener.set_acceleration(acceleration); break; case AltosLib.AO_LOG_TEMP_VOLT: - state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt())); - state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt())); + listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt())); + listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt())); int nsense = nsense(); - state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2))); - state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1))); + listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2))); + listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1))); double voltages[] = new double[nsense-2]; for (int i = 0; i < nsense-2; i++) voltages[i] = AltosConvert.mega_pyro_voltage(sense(i)); - state.set_ignitor_voltage(voltages); - state.set_pyro_fired(pyro()); + listener.set_ignitor_voltage(voltages); + listener.set_pyro_fired(pyro()); break; case AltosLib.AO_LOG_GPS_TIME: - gps = state.make_temp_gps(false); + gps = cal_data.make_temp_gps(tick(), false); gps.lat = latitude() / 1e7; gps.lon = longitude() / 1e7; @@ -225,7 +245,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord { } break; case AltosLib.AO_LOG_GPS_SAT: - gps = state.make_temp_gps(true); + gps = cal_data.make_temp_gps(tick(), true); int n = nsat(); if (n > max_sat) |