altos/altoslib: BMX160 Y axis gyro direction is opposite from MPU

Just need to flip the sign to make the values go the same direction.

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

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 7a5c222e1df43e675e119c6b0443cc990721da48..98998956bf75ad6544bd51792690456bdc060d40 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -223,8 +223,9 @@ public class AltosIMU implements Cloneable {
                case imu_type_easymega_v1:
                        return gyro_x;
                case imu_type_easymega_v2:
-               case imu_type_telemega_v4:
                        return -gyro_y;
+               case imu_type_telemega_v4:
+                       return gyro_y;
                default:
                        return AltosLib.MISSING;
                }

diff --git a/altoslib/AltosTelemetryMegaSensor.java b/altoslib/AltosTelemetryMegaSensor.java
index 320761ca0597922345b7c6a4b76d46fc5578f723..471e1787df1fd3eecbf494e99d672a8aa9c833b9 100644 (file)
--- a/altoslib/AltosTelemetryMegaSensor.java
+++ b/altoslib/AltosTelemetryMegaSensor.java
@@ -93,8 +93,9 @@ public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
                case AltosIMU.imu_type_easymega_v1:
                        return gyro_x();
                case AltosIMU.imu_type_easymega_v2:
-               case AltosIMU.imu_type_telemega_v4:
                        return -gyro_y();
+               case AltosIMU.imu_type_telemega_v4:
+                       return gyro_y();
                default:
                        return AltosLib.MISSING;
                }

diff --git a/src/telemega-v4.0/ao_pins.h b/src/telemega-v4.0/ao_pins.h
index 8f04431686438eca7d143b64266895ecf1018e7e..dac3ae5fb92dc08936d18c9ec4db96917f9a2cc2 100644 (file)
--- a/src/telemega-v4.0/ao_pins.h
+++ b/src/telemega-v4.0/ao_pins.h
@@ -338,7 +338,7 @@ struct ao_adc {
 #define ao_data_through(packet)        ((packet)->bmx160.acc_z)
 
 #define ao_data_roll(packet)   ((packet)->bmx160.gyr_x)
-#define ao_data_pitch(packet)  (-(packet)->bmx160.gyr_y)
+#define ao_data_pitch(packet)  ((packet)->bmx160.gyr_y)
 #define ao_data_yaw(packet)    ((packet)->bmx160.gyr_z)
 
 #define ao_data_mag_along(packet)      ((packet)->bmx160.mag_x)