diff options
Diffstat (limited to 'altoslib/AltosIMU.java')
| -rw-r--r-- | altoslib/AltosIMU.java | 8 |
1 files changed, 5 insertions, 3 deletions
diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java index 20a2a413..b434e02e 100644 --- a/altoslib/AltosIMU.java +++ b/altoslib/AltosIMU.java @@ -36,10 +36,12 @@ public class AltosIMU implements Cloneable { return counts / counts_per_g * AltosConvert.gravity; } - public static final double counts_per_degsec = 16.4; + /* In radians */ + public static final double GYRO_FULLSCALE_DEGREES = 2000.0; + public static final double GYRO_COUNTS = 32767.0; - public static double convert_gyro(double counts) { - return counts / counts_per_degsec; + public static double gyro_degrees_per_second(double counts, double cal) { + return (counts - cal) * GYRO_FULLSCALE_DEGREES / GYRO_COUNTS; } public boolean parse_string(String line) { |