blob: 234cda27ba36f44a6b90e35bfeb0cfbb9bafdf3b (
plain) (
blame)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
|
/*
* 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_2;
public class AltosTelemetryRecordMegaSensor extends AltosTelemetryRecordRaw {
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;
public AltosTelemetryRecordMegaSensor(int[] in_bytes, int rssi) {
super(in_bytes, rssi);
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 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.accel = accel;
next.pres = pres;
next.temp = temp;
next.imu.accel_x = accel_x;
next.imu.accel_y = accel_y;
next.imu.accel_z = accel_z;
next.imu.gyro_x = gyro_x;
next.imu.gyro_y = gyro_y;
next.imu.gyro_z = gyro_z;
next.mag.x = mag_x;
next.mag.y = mag_y;
next.mag.z = mag_z;
next.seen |= AltosRecord.seen_sensor;
return next;
}
}
|
