altoslib: Store IMU accel ground data in converted values

[fw/altos] / altoslib / AltosFlightSeries.java

diff --git a/altoslib/AltosFlightSeries.java b/altoslib/AltosFlightSeries.java
index 32bd6c5ef63f6aae98d0fef1fb0141f45efc7fcd..3edabfcbfa8b90c7f18b0422c367afdad603becc 100644 (file)
--- a/altoslib/AltosFlightSeries.java
+++ b/altoslib/AltosFlightSeries.java
@@ -391,16 +391,18 @@ public class AltosFlightSeries extends AltosDataListener {
                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);