altoslib: Convert IMU and Mag sensor values to useful units

[fw/altos] / altoslib / AltosTelemetryMegaSensor.java

diff --git a/altoslib/AltosTelemetryMegaSensor.java b/altoslib/AltosTelemetryMegaSensor.java
index 23b67af8b03e8a37ba82a172b28b0ae54625d874..8afabd3064afc9e8327602a92764eb6fefdc71c7 100644 (file)
--- a/altoslib/AltosTelemetryMegaSensor.java
+++ b/altoslib/AltosTelemetryMegaSensor.java
@@ -63,21 +63,21 @@ public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
 
                AltosIMU imu = new AltosIMU();
                
-               imu.accel_x = accel_x;
-               imu.accel_y = accel_y;
-               imu.accel_z = accel_z;
+               imu.accel_x = AltosIMU.convert_accel(accel_x);
+               imu.accel_y = AltosIMU.convert_accel(accel_y);
+               imu.accel_z = AltosIMU.convert_accel(accel_z);
 
-               imu.gyro_x = gyro_x;
-               imu.gyro_y = gyro_y;
-               imu.gyro_z = gyro_z;
+               imu.gyro_x = AltosIMU.convert_gyro(gyro_x);
+               imu.gyro_y = AltosIMU.convert_gyro(gyro_y);
+               imu.gyro_z = AltosIMU.convert_gyro(gyro_z);
 
                state.imu = imu;
 
                AltosMag mag = new AltosMag();
 
-               mag.x = mag_x;
-               mag.y = mag_y;
-               mag.z = mag_z;
+               mag.x = AltosMag.convert_gauss(mag_x);
+               mag.y = AltosMag.convert_gauss(mag_y);
+               mag.z = AltosMag.convert_gauss(mag_z);
 
                state.mag = mag;
        }