diff options
Diffstat (limited to 'altoslib')
| -rw-r--r-- | altoslib/AltosIMU.java | 35 | ||||
| -rw-r--r-- | altoslib/AltosIdleFetch.java | 20 |
2 files changed, 48 insertions, 7 deletions
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, |