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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_2;
public class AltosTelemetryRecordSensor extends AltosTelemetryRecordRaw {
int state;
int accel;
int pres;
int temp;
int v_batt;
int sense_d;
int sense_m;
int acceleration;
int speed;
int height;
int ground_accel;
int ground_pres;
int accel_plus_g;
int accel_minus_g;
public AltosTelemetryRecordSensor(int[] in_bytes, int rssi) {
super(in_bytes, rssi);
state = uint8(5);
accel = int16(6);
pres = int16(8);
temp = int16(10);
v_batt = int16(12);
sense_d = int16(14);
sense_m = int16(16);
acceleration = int16(18);
speed = int16(20);
height = int16(22);
ground_pres = int16(24);
ground_accel = int16(26);
accel_plus_g = int16(28);
accel_minus_g = int16(30);
}
public AltosRecord update_state(AltosRecord prev) {
AltosRecord n = super.update_state(prev);
AltosRecordTM next;
if (!(n instanceof AltosRecordTM))
next = new AltosRecordTM(n);
else
next = (AltosRecordTM) n;
next.state = state;
if (type == packet_type_TM_sensor)
next.accel = accel;
else
next.accel = AltosLib.MISSING;
next.pres = pres;
next.temp = temp;
next.batt = v_batt;
if (type == packet_type_TM_sensor || type == packet_type_Tm_sensor) {
next.drogue = sense_d;
next.main = sense_m;
} else {
next.drogue = AltosLib.MISSING;
next.main = AltosLib.MISSING;
}
next.kalman_acceleration = acceleration / 16.0;
next.kalman_speed = speed / 16.0;
next.kalman_height = height;
next.ground_pres = ground_pres;
if (type == packet_type_TM_sensor) {
next.ground_accel = ground_accel;
next.accel_plus_g = accel_plus_g;
next.accel_minus_g = accel_minus_g;
} else {
next.ground_accel = AltosLib.MISSING;
next.accel_plus_g = AltosLib.MISSING;
next.accel_minus_g = AltosLib.MISSING;
}
next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;
return next;
}
}
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