altoslib: Compute orientation from eeprom data files

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 20a2a413da4f9499a7f1ce052dd52f882440b0c9..b434e02e415d6f77f912d9571b6f2aaaf03461b7 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -36,10 +36,12 @@ public class AltosIMU implements Cloneable {
                return counts / counts_per_g * AltosConvert.gravity;
        }
 
-       public static final double      counts_per_degsec = 16.4;
+       /* In radians */
+       public static final double      GYRO_FULLSCALE_DEGREES = 2000.0;
+       public static final double      GYRO_COUNTS = 32767.0;
 
-       public static double convert_gyro(double counts) {
-               return counts / counts_per_degsec;
+       public static double gyro_degrees_per_second(double counts, double cal) {
+               return (counts - cal) * GYRO_FULLSCALE_DEGREES / GYRO_COUNTS;
        }
 
        public boolean parse_string(String line) {