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/*
* Copyright © 2011 Keith Packard <keithp@keithp.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; version 2 of the License.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
package org.altusmetrum.altoslib_5;
public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
int accel;
int pres;
int temp;
int accel_x;
int accel_y;
int accel_z;
int gyro_x;
int gyro_y;
int gyro_z;
int mag_x;
int mag_y;
int mag_z;
int orient;
public AltosTelemetryMegaSensor(int[] bytes) {
super(bytes);
orient = int8(5);
accel = int16(6);
pres = int32(8);
temp = int16(12);
accel_x = int16(14);
accel_y = int16(16);
accel_z = int16(18);
gyro_x = int16(20);
gyro_y = int16(22);
gyro_z = int16(24);
mag_x = int16(26);
mag_y = int16(28);
mag_z = int16(30);
}
public void update_state(AltosState state) {
super.update_state(state);
state.set_accel(accel);
state.set_pressure(pres);
state.set_temperature(temp / 100.0);
state.set_orient(orient);
AltosIMU imu = new AltosIMU();
imu.accel_x = AltosIMU.convert_accel(accel_x);
imu.accel_y = AltosIMU.convert_accel(accel_y);
imu.accel_z = AltosIMU.convert_accel(accel_z);
imu.gyro_x = AltosIMU.convert_gyro(gyro_x);
imu.gyro_y = AltosIMU.convert_gyro(gyro_y);
imu.gyro_z = AltosIMU.convert_gyro(gyro_z);
state.imu = imu;
AltosMag mag = new AltosMag();
mag.x = AltosMag.convert_gauss(mag_x);
mag.y = AltosMag.convert_gauss(mag_y);
mag.z = AltosMag.convert_gauss(mag_z);
state.mag = mag;
}
}
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