From: Keith Packard <keithp@keithp.com>
Date: Fri, 21 Feb 2020 08:19:25 +0000 (-0800)
Subject: altos/altoslib: BMX160 Y axis gyro direction is opposite from MPU
X-Git-Tag: 1.9.2~2^2~13
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=a5a8a4d8de49484a2edba62cc9b84377aa5415a6

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 7a5c222e..98998956 100644
--- 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 320761ca..471e1787 100644
--- 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 8f044316..dac3ae5f 100644
--- 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)