diff options
Diffstat (limited to 'altoslib/AltosTelemetryMegaSensor.java')
| -rw-r--r-- | altoslib/AltosTelemetryMegaSensor.java | 27 |
1 files changed, 8 insertions, 19 deletions
diff --git a/altoslib/AltosTelemetryMegaSensor.java b/altoslib/AltosTelemetryMegaSensor.java index 1b568c88..bae18d1c 100644 --- a/altoslib/AltosTelemetryMegaSensor.java +++ b/altoslib/AltosTelemetryMegaSensor.java @@ -66,24 +66,13 @@ public class AltosTelemetryMegaSensor extends AltosTelemetryStandard { state.set_orient(orient); - AltosIMU imu = new AltosIMU(); - - imu.accel_x = AltosIMU.convert_accel(accel_x); - imu.accel_y = AltosIMU.convert_accel(accel_y); - imu.accel_z = AltosIMU.convert_accel(accel_z); - - imu.gyro_x = AltosIMU.convert_gyro(gyro_x); - imu.gyro_y = AltosIMU.convert_gyro(gyro_y); - imu.gyro_z = AltosIMU.convert_gyro(gyro_z); - - state.imu = imu; - - AltosMag mag = new AltosMag(); - - mag.x = AltosMag.convert_gauss(mag_x); - mag.y = AltosMag.convert_gauss(mag_y); - mag.z = AltosMag.convert_gauss(mag_z); - - state.mag = mag; + state.set_imu(new AltosIMU(accel_y, /* along */ + accel_x, /* across */ + accel_z, /* through */ + gyro_y, /* along */ + gyro_x, /* across */ + gyro_z)); /* through */ + + state.set_mag(new AltosMag(mag_x, mag_y, mag_z)); } } |