altoslib: BMX160 driver now returns µT values for mag sensor

These are converted on-board using calibration values provided with
the chip.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 3ce49499ba3d60359e309df843e18f2cb8d48e2e..fc9fa5831be8d8012149e6b2b9b942d87421ecc6 100644 (file)
--- 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;
                }