X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=e63eeaf9e0844c4e56d0f3edccad12b02d5662e3;hp=98998956bf75ad6544bd51792690456bdc060d40;hb=cec4dea23b7b3cfe0f0a43c19b3118cc98cb9414;hpb=a5a8a4d8de49484a2edba62cc9b84377aa5415a6

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 98998956..e63eeaf9 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -88,11 +88,7 @@ public class AltosIMU implements Cloneable {
 	public static final double MAG_COUNTS_MPU = 32767.0;
 	public static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU;
 
-	public static final double MAG_FULLSCALE_GAUSS_BMX_XY = 11.50;	/* 1150µT */
-	public static final double MAG_FULLSCALE_GAUSS_BMX_Z = 25.00;	/* 2500µT */
-	public static final double MAG_COUNTS_BMX = 32767.0;
-	public static final double counts_per_gauss_bmx_xy = MAG_COUNTS_BMX / MAG_FULLSCALE_GAUSS_BMX_XY;
-	public static final double counts_per_gauss_bmx_z = MAG_COUNTS_BMX / MAG_FULLSCALE_GAUSS_BMX_Z;
+	public static final double counts_per_gauss_bmx = 100.0;	/* BMX driver converts to µT */
 
 	public static double counts_per_gauss(int imu_type, int axis) {
 		switch(imu_type) {
@@ -103,14 +99,7 @@ public class AltosIMU implements Cloneable {
 		case imu_type_easymega_v2:
 			return counts_per_gauss_mpu;
 		case imu_type_telemega_v4:
-			switch (axis) {
-			case imu_axis_x:
-			case imu_axis_y:
-				return counts_per_gauss_bmx_xy;
-			case imu_axis_z:
-				return counts_per_gauss_bmx_z;
-			}
-			/* fall through */
+			return 100.0;
 		default:
 			return AltosLib.MISSING;
 		}
@@ -126,8 +115,6 @@ public class AltosIMU implements Cloneable {
 
 		String[] items = line.split("\\s+");
 
-		System.out.printf("length %d\n", items.length);
-
 		if (items.length >= 8) {
 			accel_x = Integer.parseInt(items[1]);
 			accel_y = Integer.parseInt(items[2]);
@@ -225,7 +212,7 @@ 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 +242,10 @@ 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;
 		}