X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=ba6f1a82584089c46a643d4e67d03af691ce39aa;hb=964a14568b73296194f84c728cc7e01d6f0e2f64;hp=87d3ec940b5f436e8a0bb23fb15c8e5d186c6deb;hpb=a61217f0a6d0ef48b6471f632c4600255867e831;p=fw%2Faltos

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 87d3ec94..ba6f1a82 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -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) {
 		}