- state->acceleration = (data->ground_accel - data->flight_accel) / 27.0;
- state->speed = data->flight_vel / 2700.0;
+ accel_counts_per_mss = ((data->accel_minus_g - data->accel_plus_g) / 2.0) / 9.80665;
+ state->acceleration = (data->ground_accel - data->flight_accel) / accel_counts_per_mss;
+ state->speed = data->flight_vel / (accel_counts_per_mss * 100.0);