From 91bcfae2e64ecb2e7de1292b264910382b635aea Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Fri, 20 Dec 2013 19:37:08 -0800 Subject: altoslib: Convert IMU and Mag sensor values to useful units Convert from raw sensor values to metric units Signed-off-by: Keith Packard --- altoslib/AltosEepromMega.java | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) (limited to 'altoslib/AltosEepromMega.java') diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java index 7a4ee52d..47013b5e 100644 --- a/altoslib/AltosEepromMega.java +++ b/altoslib/AltosEepromMega.java @@ -115,19 +115,19 @@ public class AltosEepromMega extends AltosEeprom { state.set_ms5607(pres(), temp()); AltosIMU imu = new AltosIMU(); - imu.accel_x = accel_x(); - imu.accel_y = accel_y(); - imu.accel_z = accel_z(); + 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 = gyro_x(); - imu.gyro_y = gyro_y(); - imu.gyro_z = gyro_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 = mag_x(); - mag.y = mag_y(); - mag.z = mag_z(); + mag.x = AltosMag.convert_gauss(mag_x()); + mag.y = AltosMag.convert_gauss(mag_y()); + mag.z = AltosMag.convert_gauss(mag_z()); state.mag = mag; -- cgit v1.2.3