462 lines
13 KiB
Java
462 lines
13 KiB
Java
/*
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* Copyright © 2017 Keith Packard <keithp@keithp.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*/
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package org.altusmetrum.altoslib_14;
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public class AltosEepromRecordMega extends AltosEepromRecord {
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public static final int record_length = 32;
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public static final int max_sat = 12;
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private int log_format;
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/* AO_LOG_FLIGHT elements */
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private int flight() { return data16(0); }
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private int ground_accel() { return data16(2); }
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private int ground_pres() { return data32(4); }
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private int ground_accel_along() { return data16(8); }
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private int ground_accel_across() { return data16(10); }
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private int ground_accel_through() { return data16(12); }
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private int ground_roll() {
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switch (log_format) {
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case AltosLib.AO_LOG_FORMAT_TELEMEGA:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
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case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
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return data32(16);
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
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return data16(14);
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default:
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return AltosLib.MISSING;
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}
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}
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private int ground_pitch() {
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switch (log_format) {
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case AltosLib.AO_LOG_FORMAT_TELEMEGA:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
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case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
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return data32(20);
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
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return data16(16);
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default:
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return AltosLib.MISSING;
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}
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}
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private int ground_yaw() {
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switch (log_format) {
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case AltosLib.AO_LOG_FORMAT_TELEMEGA:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
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case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
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return data32(24);
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
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return data16(18);
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default:
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return AltosLib.MISSING;
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}
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}
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/* AO_LOG_STATE elements */
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private int state() { return data16(0); }
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private int reason() { return data16(2); }
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/* AO_LOG_SENSOR elements */
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private int pres() { return data32(0); }
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private int temp() { return data32(4); }
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private int accel_x() { return data16(8); }
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private int accel_y() { return data16(10); }
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private int accel_z() { return data16(12); }
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private int gyro_x() { return data16(14); }
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private int gyro_y() { return data16(16); }
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private int gyro_z() { return data16(18); }
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private int mag_x() { return data16(20); }
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private int mag_z() { return data16(22); }
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private int mag_y() { return data16(24); }
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/* normalized log data */
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private int norm_accel_along() { return data16(8); }
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private int norm_accel_across() { return data16(10); }
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private int norm_accel_through() { return data16(12); }
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private int norm_gyro_roll() { return data16(14); }
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private int norm_gyro_pitch() { return data16(16); }
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private int norm_gyro_yaw() { return data16(18); }
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private int norm_mag_along() { return data16(20); }
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private int norm_mag_across() { return data16(22); }
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private int norm_mag_through() { return data16(24); }
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private int imu_type() {
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switch (log_format) {
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case AltosLib.AO_LOG_FORMAT_TELEMEGA:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
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return AltosIMU.imu_type_telemega_v1_v2;
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
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return AltosIMU.imu_type_telemega_v3;
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case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
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return AltosIMU.imu_type_easymega_v2;
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
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return AltosIMU.imu_type_telemega_v4;
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default:
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return AltosLib.MISSING;
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}
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}
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private int imu_model() {
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switch (log_format) {
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
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return AltosLib.model_mpu6000;
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
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return AltosLib.model_bmi088;
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}
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return AltosLib.MISSING;
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}
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private boolean sensor_normalized() {
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switch (log_format) {
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
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return true;
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}
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return false;
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}
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private int mag_model() {
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switch (log_format) {
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
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return AltosLib.model_mmc5983;
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}
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return AltosLib.MISSING;
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}
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private int accel_across() {
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if (sensor_normalized()) {
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return norm_accel_across();
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}
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switch (log_format) {
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case AltosLib.AO_LOG_FORMAT_TELEMEGA:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
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return accel_x();
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case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
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return -accel_y();
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default:
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return AltosLib.MISSING;
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}
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}
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private int accel_along(){
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if (sensor_normalized()) {
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return norm_accel_along();
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}
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switch (log_format) {
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case AltosLib.AO_LOG_FORMAT_TELEMEGA:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
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return accel_y();
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case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
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return accel_x();
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default:
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return AltosLib.MISSING;
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}
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}
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private int accel_through() {
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if (sensor_normalized()) {
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return norm_accel_through();
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}
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return accel_z();
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}
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private int gyro_pitch() {
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if (sensor_normalized()) {
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return norm_gyro_pitch();
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}
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switch (log_format) {
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case AltosLib.AO_LOG_FORMAT_TELEMEGA:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
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return gyro_x();
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case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
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return -gyro_y();
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
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return -gyro_y();
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default:
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return AltosLib.MISSING;
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}
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}
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private int gyro_roll() {
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if (sensor_normalized()) {
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return norm_gyro_roll();
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}
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switch (log_format) {
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case AltosLib.AO_LOG_FORMAT_TELEMEGA:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
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return gyro_y();
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case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
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return gyro_x();
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default:
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return AltosLib.MISSING;
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}
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}
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private int gyro_yaw() {
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if (sensor_normalized()) {
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return norm_gyro_yaw();
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}
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return gyro_z();
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}
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private int mag_across() {
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if (sensor_normalized()) {
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return norm_mag_across();
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}
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switch (log_format) {
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case AltosLib.AO_LOG_FORMAT_TELEMEGA:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
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return mag_x();
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case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
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return -mag_y();
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
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return mag_y();
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default:
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return AltosLib.MISSING;
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}
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}
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private int mag_along() {
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if (sensor_normalized()) {
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return norm_mag_along();
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}
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switch (log_format) {
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case AltosLib.AO_LOG_FORMAT_TELEMEGA:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
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return mag_y();
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case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
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case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
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return mag_x();
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default:
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return AltosLib.MISSING;
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}
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}
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private int mag_through() {
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if (sensor_normalized()) {
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return norm_mag_through();
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}
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return mag_z();
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}
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private int accel() { return data16(26); }
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/* AO_LOG_TEMP_VOLT elements */
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private int v_batt() { return data16(0); }
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private int v_pbatt() { return data16(2); }
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private int nsense() { return data16(4); }
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private int sense(int i) { return data16(6 + i * 2); }
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private int pyro() { return data16(26); }
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/* AO_LOG_GPS_TIME elements */
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private int latitude() { return data32(0); }
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private int longitude() { return data32(4); }
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private int altitude_low() { return data16(8); }
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private int hour() { return data8(10); }
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private int minute() { return data8(11); }
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private int second() { return data8(12); }
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private int flags() { return data8(13); }
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private int year() { return data8(14); }
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private int month() { return data8(15); }
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private int day() { return data8(16); }
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private int course() { return data8(17); }
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private int ground_speed() { return data16(18); }
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private int climb_rate() { return data16(20); }
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private int pdop() { return data8(22); }
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private int hdop() { return data8(23); }
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private int vdop() { return data8(24); }
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private int mode() { return data8(25); }
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private int altitude_high() { return data16(26); }
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/* AO_LOG_GPS_SAT elements */
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private int nsat() { return data16(0); }
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private int svid(int n) { return data8(2 + n * 2); }
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private int c_n(int n) { return data8(2 + n * 2 + 1); }
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public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
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super.provide_data(listener, cal_data);
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AltosGPS gps;
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cal_data.set_imu_type(imu_type());
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cal_data.set_imu_model(imu_model());
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cal_data.set_mag_model(mag_model());
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switch (cmd()) {
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case AltosLib.AO_LOG_FLIGHT:
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cal_data.set_flight(flight());
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cal_data.set_ground_accel(ground_accel());
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cal_data.set_ground_pressure(ground_pres());
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listener.set_accel_ground(cal_data.accel_along(ground_accel_along()),
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cal_data.accel_across(ground_accel_across()),
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cal_data.accel_through(ground_accel_through()));
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cal_data.set_gyro_zero(ground_roll() / 512.0,
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ground_pitch() / 512.0,
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ground_yaw() / 512.0);
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break;
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case AltosLib.AO_LOG_STATE:
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listener.set_state(state());
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break;
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case AltosLib.AO_LOG_SENSOR:
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AltosConfigData config_data = eeprom.config_data();
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AltosPresTemp pt = config_data.ms5607().pres_temp(pres(), temp());;
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listener.set_pressure(pt.pres);
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listener.set_temperature(pt.temp);
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int accel_along = accel_along();
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int accel_across = accel_across();
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int accel_through = accel_through();
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int gyro_roll = gyro_roll();
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int gyro_pitch = gyro_pitch();
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int gyro_yaw = gyro_yaw();
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int mag_along = mag_along();
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int mag_across = mag_across();
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int mag_through = mag_through();
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if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
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cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);
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listener.set_accel(cal_data.accel_along(accel_along),
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cal_data.accel_across(accel_across),
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cal_data.accel_through(accel_through));
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listener.set_gyro(cal_data.gyro_roll(gyro_roll),
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cal_data.gyro_pitch(gyro_pitch),
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cal_data.gyro_yaw(gyro_yaw));
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listener.set_mag(cal_data.mag_along(mag_along),
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cal_data.mag_across(mag_across),
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cal_data.mag_through(mag_through));
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listener.set_acceleration(cal_data.acceleration(accel()));
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break;
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case AltosLib.AO_LOG_TEMP_VOLT:
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listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
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listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
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int nsense = nsense();
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listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
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listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
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double voltages[] = new double[nsense-2];
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for (int i = 0; i < nsense-2; i++)
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voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
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listener.set_igniter_voltage(voltages);
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listener.set_pyro_fired(pyro());
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break;
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case AltosLib.AO_LOG_GPS_TIME:
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gps = listener.make_temp_gps(false);
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gps.lat = latitude() / 1e7;
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gps.lon = longitude() / 1e7;
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if (config_data().altitude_32())
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gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
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else
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gps.alt = altitude_low();
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gps.hour = hour();
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gps.minute = minute();
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gps.second = second();
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int flags = flags();
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gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
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gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
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gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
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AltosLib.AO_GPS_NUM_SAT_SHIFT;
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gps.year = 2000 + year();
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gps.month = month();
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gps.day = day();
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gps.ground_speed = ground_speed() * 1.0e-2;
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gps.course = course() * 2;
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gps.climb_rate = climb_rate() * 1.0e-2;
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if (config_data().compare_version("1.4.9") >= 0) {
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gps.pdop = pdop() / 10.0;
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gps.hdop = hdop() / 10.0;
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gps.vdop = vdop() / 10.0;
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} else {
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gps.pdop = pdop() / 100.0;
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if (gps.pdop < 0.8)
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gps.pdop += 2.56;
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gps.hdop = hdop() / 100.0;
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if (gps.hdop < 0.8)
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gps.hdop += 2.56;
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gps.vdop = vdop() / 100.0;
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if (gps.vdop < 0.8)
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gps.vdop += 2.56;
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}
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break;
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case AltosLib.AO_LOG_GPS_SAT:
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gps = listener.make_temp_gps(true);
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int n = nsat();
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if (n > max_sat)
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n = max_sat;
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for (int i = 0; i < n; i++)
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gps.add_sat(svid(i), c_n(i));
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break;
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}
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}
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public AltosEepromRecord next() {
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int s = next_start();
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if (s < 0)
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return null;
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return new AltosEepromRecordMega(eeprom, s);
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}
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public AltosEepromRecordMega(AltosEeprom eeprom, int start) {
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super(eeprom, start, record_length);
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log_format = eeprom.config_data().log_format;
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}
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public AltosEepromRecordMega(AltosEeprom eeprom) {
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this(eeprom, 0);
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}
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}
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