Fixed accel conversion for flightgear.

13 years ago · e3836b26b4
1 changed files with 3 additions and 3 deletions
--- a/src/comm/QGCFlightGearLink.cc
+++ b/src/comm/QGCFlightGearLink.cc
@ -249,9 +249,9 @@ void QGCFlightGearLink::readBytes()
				@@ -249,9 +249,9 @@ void QGCFlightGearLink::readBytes()
    pitchspeed = values.at(8).toDouble();
    yawspeed = values.at(9).toDouble();

-    xacc = values.at(10).toDouble();
-    yacc = values.at(11).toDouble();
-    zacc = values.at(12).toDouble();
+    xacc = values.at(10).toDouble()*1e3/9.8; // convert to mg's
+    yacc = values.at(11).toDouble()*1e3/9.8;
+    zacc = values.at(12).toDouble()*1e3/9.8;

    vx = values.at(13).toDouble() * 1e2;
    vy = values.at(14).toDouble() * 1e2;