+ public static final double counts_per_g_mpu = 2048.0;
+ public static final double counts_per_g_bmx = 2048.0;
+
+ private static double counts_per_g(int imu_type) {
+ switch (imu_type) {
+ case imu_type_telemega_v1_v2:
+ case imu_type_telemega_v3:
+ case imu_type_easymega_v1:
+ case imu_type_easymega_v2:
+ return counts_per_g_mpu;
+ case imu_type_telemega_v4:
+ return counts_per_g_bmx;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ public static double convert_accel(double counts, int imu_type) {
+ return counts / counts_per_g(imu_type) * AltosConvert.gravity;
+ }
+
+ public static final double GYRO_FULLSCALE_DEGREES_MPU = 2000.0;
+ public static final double GYRO_COUNTS_MPU = 32767.0;
+ public static final double counts_per_degree_mpu = GYRO_COUNTS_MPU / GYRO_FULLSCALE_DEGREES_MPU;
+ public static final double GYRO_FULLSCALE_DEGREES_BMX = 2000.0;
+ public static final double GYRO_COUNTS_BMX = 32767.0;
+ public static final double counts_per_degree_bmx = GYRO_COUNTS_BMX / GYRO_FULLSCALE_DEGREES_BMX;
+
+ private static double counts_per_degree(int imu_type) {
+ switch (imu_type) {
+ case imu_type_telemega_v1_v2:
+ case imu_type_telemega_v3:
+ case imu_type_easymega_v1:
+ case imu_type_easymega_v2:
+ return counts_per_degree_mpu;
+ case imu_type_telemega_v4:
+ return counts_per_degree_bmx;
+ default:
+ return AltosLib.MISSING;
+ }
+ }