X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=ba6f1a82584089c46a643d4e67d03af691ce39aa;hb=964a14568b73296194f84c728cc7e01d6f0e2f64;hp=407ed4bbc156a202756cbbfffad83b0dfb07669c;hpb=27131ec7abda875595c61be0b151b73eb28afab9;p=fw%2Faltos

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 407ed4bb..ba6f1a82 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -16,7 +16,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_11;
+package org.altusmetrum.altoslib_12;
 
 import java.util.concurrent.*;
 import java.io.*;
@@ -74,17 +74,18 @@ public class AltosIMU implements Cloneable {
 		return n;
 	}
 
-	static public void provide_data(AltosDataListener listener, AltosLink link, AltosCalData cal_data) throws InterruptedException {
+	static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException {
 		try {
 			AltosIMU	imu = new AltosIMU(link);
+			AltosCalData	cal_data = listener.cal_data();
 
 			if (imu != null) {
 				listener.set_gyro(cal_data.gyro_roll(imu.gyro_y),
 						  cal_data.gyro_pitch(imu.gyro_x),
 						  cal_data.gyro_yaw(imu.gyro_z));
-				listener.set_accel_ground(cal_data.accel_along(imu.accel_y),
-							  cal_data.accel_across(imu.accel_x),
-							  cal_data.accel_through(imu.accel_z));
+				listener.set_accel_ground(imu.accel_y,
+							  imu.accel_x,
+							  imu.accel_z);
 			}
 		} catch (TimeoutException te) {
 		}