X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=fc9fa5831be8d8012149e6b2b9b942d87421ecc6;hb=9ad50b83eca7aea8c9e568a661fcdd98598d0c73;hp=7a5c222e1df43e675e119c6b0443cc990721da48;hpb=06cf43cea9149f8c04c80785a613408454eab4f2;p=fw%2Faltos

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 7a5c222e..fc9fa583 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -88,11 +88,7 @@ public class AltosIMU implements Cloneable {
 	public static final double MAG_COUNTS_MPU = 32767.0;
 	public static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU;
 
-	public static final double MAG_FULLSCALE_GAUSS_BMX_XY = 11.50;	/* 1150µT */
-	public static final double MAG_FULLSCALE_GAUSS_BMX_Z = 25.00;	/* 2500µT */
-	public static final double MAG_COUNTS_BMX = 32767.0;
-	public static final double counts_per_gauss_bmx_xy = MAG_COUNTS_BMX / MAG_FULLSCALE_GAUSS_BMX_XY;
-	public static final double counts_per_gauss_bmx_z = MAG_COUNTS_BMX / MAG_FULLSCALE_GAUSS_BMX_Z;
+	public static final double counts_per_gauss_bmx = 100.0;	/* BMX driver converts to µT */
 
 	public static double counts_per_gauss(int imu_type, int axis) {
 		switch(imu_type) {
@@ -103,14 +99,7 @@ public class AltosIMU implements Cloneable {
 		case imu_type_easymega_v2:
 			return counts_per_gauss_mpu;
 		case imu_type_telemega_v4:
-			switch (axis) {
-			case imu_axis_x:
-			case imu_axis_y:
-				return counts_per_gauss_bmx_xy;
-			case imu_axis_z:
-				return counts_per_gauss_bmx_z;
-			}
-			/* fall through */
+			return 100.0;
 		default:
 			return AltosLib.MISSING;
 		}
@@ -223,6 +212,7 @@ public class AltosIMU implements Cloneable {
 		case imu_type_easymega_v1:
 			return gyro_x;
 		case imu_type_easymega_v2:
+			return -gyro_y;
 		case imu_type_telemega_v4:
 			return -gyro_y;
 		default:
@@ -254,9 +244,10 @@ public class AltosIMU implements Cloneable {
 		case imu_type_telemega_v3:
 		case imu_type_easymega_v1:
 			return mag_x;
-		case imu_type_telemega_v4:
 		case imu_type_easymega_v2:
 			return -mag_y;
+		case imu_type_telemega_v4:
+			return mag_y;
 		default:
 			return AltosLib.MISSING;
 		}