altoslib: Correct sign of telemega v4 pitch

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 98998956bf75ad6544bd51792690456bdc060d40..3ce49499ba3d60359e309df843e18f2cb8d48e2e 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -225,7 +225,7 @@ public class AltosIMU implements Cloneable {
                case imu_type_easymega_v2:
                        return -gyro_y;
                case imu_type_telemega_v4:
-                       return gyro_y;
+                       return -gyro_y;
                default:
                        return AltosLib.MISSING;
                }
@@ -255,9 +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;
                }