For some reason, this value was in sensor units.
Signed-off-by: Keith Packard <keithp@keithp.com>
cal_data.set_flight(flight());
cal_data.set_ground_accel(ground_accel());
cal_data.set_ground_pressure(ground_pres());
- listener.set_accel_ground(ground_accel_along(),
- ground_accel_across(),
- ground_accel_through());
+ listener.set_accel_ground(cal_data.accel_along(ground_accel_along()),
+ cal_data.accel_across(ground_accel_across()),
+ cal_data.accel_through(ground_accel_through()));
cal_data.set_gyro_zero(ground_roll() / 512.0,
ground_pitch() / 512.0,
ground_yaw() / 512.0);
if (accel_ground_across == AltosLib.MISSING)
return;
- if (cal_data().pad_orientation == AltosLib.MISSING)
+ AltosCalData cal_data = cal_data();
+
+ if (cal_data.pad_orientation == AltosLib.MISSING)
return;
- if (cal_data().accel_zero_across == AltosLib.MISSING)
+ if (cal_data.accel_zero_across == AltosLib.MISSING)
return;
- AltosRotation rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data().accel_zero_across),
- AltosIMU.convert_accel(accel_ground_through - cal_data().accel_zero_through),
- AltosIMU.convert_accel(accel_ground_along - cal_data().accel_zero_along),
- cal_data().pad_orientation);
+ AltosRotation rotation = new AltosRotation(accel_ground_across,
+ accel_ground_through,
+ accel_ground_along,
+ cal_data.pad_orientation);
double prev_time = ground_time;
orient_series = add_series(orient_name, AltosConvert.orient);
void update_pad_rotation() {
if (cal_data().pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
- rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data().accel_zero_across),
- AltosIMU.convert_accel(accel_ground_through - cal_data().accel_zero_through),
- AltosIMU.convert_accel(accel_ground_along - cal_data().accel_zero_along),
+ rotation = new AltosRotation(accel_ground_across,
+ accel_ground_through,
+ accel_ground_along,
cal_data().pad_orientation);
orient.set_computed(rotation.tilt(), time);
}