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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;
public class AltosTelemetryRecordMegaData extends AltosTelemetryRecordRaw {
int state;
int v_batt;
int v_pyro;
int sense[];
int ground_pres;
int ground_accel;
int accel_plus_g;
int accel_minus_g;
int acceleration;
int speed;
int height;
public AltosTelemetryRecordMegaData(int[] in_bytes) {
super(in_bytes);
state = int8(5);
v_batt = int16(6);
v_pyro = int16(8);
sense = new int[6];
for (int i = 0; i < 6; i++) {
sense[i] = int8(10 + i) << 4;
sense[i] |= sense[i] >> 8;
}
ground_pres = int32(16);
ground_accel = int16(20);
accel_plus_g = int16(22);
accel_minus_g = int16(24);
acceleration = int16(26);
speed = int16(28);
height = int16(30);
}
public AltosRecord update_state(AltosRecord previous) {
AltosRecord n = super.update_state(previous);
AltosRecordMM next;
if (!(n instanceof AltosRecordMM)) {
next = new AltosRecordMM(n);
} else {
next = (AltosRecordMM) n;
}
next.state = state;
next.v_batt = v_batt;
next.v_pyro = v_pyro;
for (int i = 0; i < 6; i++)
next.sense[i] = sense[i];
next.ground_accel = ground_accel;
next.ground_pres = ground_pres;
next.accel_plus_g = accel_plus_g;
next.accel_minus_g = accel_minus_g;
next.kalman_acceleration = acceleration / 16.0;
next.kalman_speed = speed / 16.0;
next.kalman_height = height;
next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;
return next;
}
}
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