@Override
public void untimestampedDataReceived(long curr_system_timestamp, Object kind) {
if (!timestamped && (kind.getClass() == AHRS.DeviceDataType.class)) {
double process_value;
switch (untimestamped_src) {
case RAW_GYRO_X:
process_value = navx_device.getRawGyroX();
break;
case RAW_GYRO_Y:
process_value = navx_device.getRawGyroY();
break;
case RAW_GYRO_Z:
process_value = navx_device.getRawGyroZ();
break;
case RAW_ACCEL_X:
process_value = navx_device.getRawAccelX();
break;
case RAW_ACCEL_Y:
process_value = navx_device.getRawAccelY();
break;
case RAW_MAG_X:
process_value = navx_device.getRawMagX();
break;
case RAW_MAG_Y:
process_value = navx_device.getRawMagY();
break;
case RAW_MAG_Z:
process_value = navx_device.getRawMagZ();
break;
default:
process_value = 0.0;
break;
}
int num_missed_samples = 0; /* TODO */
last_system_timestamp = curr_system_timestamp;
double output = this.stepController(process_value, num_missed_samples);
synchronized (sync_event) {
sync_event.notify();
}
}
}
