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/*
* Copyright © 2012 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;
import java.util.concurrent.*;
public class AltosIMU implements Cloneable {
public double accel_x;
public double accel_y;
public double accel_z;
public double gyro_x;
public double gyro_y;
public double gyro_z;
/*
* XXX use ground measurements to adjust values
public double ground_accel_x;
public double ground_accel_y;
public double ground_accel_z;
public double ground_gyro_x;
public double ground_gyro_y;
public double ground_gyro_z;
*/
public static int counts_per_g = 2048;
public static double convert_accel(int counts) {
return (double) counts / (double) counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
}
public static double counts_per_degsec = 16.4;
public static double convert_gyro(int counts) {
return (double) counts / counts_per_degsec;
}
public boolean parse_string(String line) {
if (!line.startsWith("Accel:"))
return false;
String[] items = line.split("\\s+");
if (items.length >= 8) {
accel_x = convert_accel(Integer.parseInt(items[1]));
accel_y = convert_accel(Integer.parseInt(items[2]));
accel_z = convert_accel(Integer.parseInt(items[3]));
gyro_x = convert_gyro(Integer.parseInt(items[5]));
gyro_y = convert_gyro(Integer.parseInt(items[6]));
gyro_z = convert_gyro(Integer.parseInt(items[7]));
}
return true;
}
public AltosIMU clone() {
AltosIMU n = new AltosIMU();
n.accel_x = accel_x;
n.accel_y = accel_y;
n.accel_z = accel_z;
n.gyro_x = gyro_x;
n.gyro_y = gyro_y;
n.gyro_z = gyro_z;
return n;
}
static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
try {
AltosIMU imu = new AltosIMU(link);
if (imu != null)
state.set_imu(imu);
} catch (TimeoutException te) {
}
}
public AltosIMU() {
accel_x = AltosLib.MISSING;
accel_y = AltosLib.MISSING;
accel_z = AltosLib.MISSING;
gyro_x = AltosLib.MISSING;
gyro_y = AltosLib.MISSING;
gyro_z = AltosLib.MISSING;
}
public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
this();
link.printf("I\n");
for (;;) {
String line = link.get_reply_no_dialog(5000);
if (line == null) {
throw new TimeoutException();
}
if (parse_string(line))
break;
}
}
}
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