altoslib: Convert IMU and Mag sensor values to useful units

[fw/altos] / altoslib / AltosEepromMega.java

diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java
index 7a4ee52d10680e1e61c3289bb029a12e079b444c..47013b5eaab0e8d2ce3701e78d14bc479f8e2485 100644 (file)
--- a/altoslib/AltosEepromMega.java
+++ b/altoslib/AltosEepromMega.java
@@ -115,19 +115,19 @@ public class AltosEepromMega extends AltosEeprom {
                        state.set_ms5607(pres(), temp());
 
                        AltosIMU imu = new AltosIMU();
-                       imu.accel_x = accel_x();
-                       imu.accel_y = accel_y();
-                       imu.accel_z = accel_z();
+                       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 = gyro_x();
-                       imu.gyro_y = gyro_y();
-                       imu.gyro_z = gyro_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 = mag_x();
-                       mag.y = mag_y();
-                       mag.z = mag_z();
+                       mag.x = AltosMag.convert_gauss(mag_x());
+                       mag.y = AltosMag.convert_gauss(mag_y());
+                       mag.z = AltosMag.convert_gauss(mag_z());
 
                        state.mag = mag;