X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=b434e02e415d6f77f912d9571b6f2aaaf03461b7;hp=20a2a413da4f9499a7f1ce052dd52f882440b0c9;hb=32de85691f2e4ed1430a259e05a514ad820b32d9;hpb=4c5acb57d7ac1abec7bb4cda9dc88c2a19767a2d

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 20a2a413..b434e02e 100644
--- 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) {