From: Keith Packard <keithp@keithp.com>
Date: Sat, 17 Oct 2020 03:52:48 +0000 (-0700)
Subject: altoslib: Correct ADXL counts_per_g
X-Git-Tag: 1.9.6~1^2~9
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=02c7bb11a8a4270e40bd1f42abd00ae849ff7539

altoslib: Correct ADXL counts_per_g

When ADXL 375 is used as a 3d accel (as on EasyMotor), need the right
counts_per_g to do conversions.

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

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index e66005f2..2944a2a5 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -49,7 +49,7 @@ public class AltosIMU implements Cloneable {
 		case imu_type_easytimer_v1:
 			return counts_per_g_bmx;
 		case imu_type_easymotor_v2:
-			return counts_per_g_bmx;
+			return counts_per_g_adxl;
 		default:
 			return AltosLib.MISSING;
 		}
@@ -195,7 +195,7 @@ public class AltosIMU implements Cloneable {
 		case imu_type_easytimer_v1:
 			return accel_x;
 		case imu_type_easymotor_v2:
-			return accel_x;
+			return -accel_x;
 		default:
 			return AltosLib.MISSING;
 		}