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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:
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:
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_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_easymega_v2:
return -mag_y;
+ case imu_type_telemega_v4:
+ return mag_y;
default:
return AltosLib.MISSING;
}
default:
return AltosLib.MISSING;
}