From: Keith Packard <keithp@keithp.com>
Date: Tue, 25 Feb 2020 19:51:57 +0000 (-0800)
Subject: altoslib: Correct sign of telemega v4 pitch
X-Git-Tag: 1.9.2~2^2~10
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=a4039a60bbe972fd022699d62ab06a8f1bc4af69;hp=88cf92175a4524143349491a817c9037dd8c39ef

altoslib: Correct sign of telemega v4 pitch

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

diff --git a/altoslib/AltosEepromRecordMega.java b/altoslib/AltosEepromRecordMega.java
index ced94298..168b352c 100644
--- a/altoslib/AltosEepromRecordMega.java
+++ b/altoslib/AltosEepromRecordMega.java
@@ -142,7 +142,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 			return -gyro_y();
 		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
-			return gyro_y();
+			return -gyro_y();
 		default:
 			return AltosLib.MISSING;
 		}
@@ -173,8 +173,9 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 			return mag_x();
 		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
-		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 			return -mag_y();
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+			return mag_y();
 		default:
 			return AltosLib.MISSING;
 		}
diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 98998956..3ce49499 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -225,7 +225,7 @@ 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 +255,10 @@ 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;
 		}