altoslib: Correct sign of telemega v4 pitch

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 7a5c222e1df43e675e119c6b0443cc990721da48..3ce49499ba3d60359e309df843e18f2cb8d48e2e 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -223,6 +223,7 @@ 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 +255,10 @@ 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;
                }