altoslib: Compute tilt angle from eeprom data

[fw/altos] / altoslib / AltosTelemetryMegaSensor.java

diff --git a/altoslib/AltosTelemetryMegaSensor.java b/altoslib/AltosTelemetryMegaSensor.java
index 1b568c88cea80b47ca45bc6edc5d63559b32514d..bae18d1c252a5712746fd0a2748348116b429a0c 100644 (file)
--- 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));
        }
 }