Change manetometer abstraction from uT to T.

diff --git a/lib/bno055.cpp b/lib/bno055.cpp
index f583642..80fa6fc 100644 (file)
--- a/lib/bno055.cpp
+++ b/lib/bno055.cpp
@@ -119,7 +119,7 @@ Eigen::Vector3d Bno055::mag(void)
        magVector << mag.x/BNO055_MAG_DIV_UT,
                mag.y/BNO055_MAG_DIV_UT,
                mag.z/BNO055_MAG_DIV_UT;
-       return magVector;
+       return magVector*1e-6;
 }
 
 Eigen::Vector3d Bno055::gyro(void)

diff --git a/lib/bno080.cpp b/lib/bno080.cpp
index c8add04..1375dc6 100644 (file)
--- a/lib/bno080.cpp
+++ b/lib/bno080.cpp
@@ -90,12 +90,14 @@ void sensorCallback(void *cookie,sh2_SensorEvent_t *event)
                        bno080.mag_[0]=value.un.magneticField.x;
                        bno080.mag_[1]=value.un.magneticField.y;
                        bno080.mag_[2]=value.un.magneticField.z;
+                       bno080.mag_*=1e-6;
                        break;
 
                case SH2_MAGNETIC_FIELD_UNCALIBRATED:
                        bno080.mag_[0]=value.un.magneticFieldUncal.x;
                        bno080.mag_[1]=value.un.magneticFieldUncal.y;
                        bno080.mag_[2]=value.un.magneticFieldUncal.z;
+                       bno080.mag_*=1e-6;
                        break;
 
                case SH2_GYROSCOPE_CALIBRATED:

diff --git a/lib/lsm9ds1.cpp b/lib/lsm9ds1.cpp
index 074196b..b8f24b1 100644 (file)
--- a/lib/lsm9ds1.cpp
+++ b/lib/lsm9ds1.cpp
@@ -135,7 +135,7 @@ Eigen::Vector3d Lsm9ds1::mag(void)
        Eigen::Vector3d magEigen;
        for(int i=0;i < 3;i++) magEigen[i]=lsm9ds1_from_fs16gauss_to_uT(mag.i16bit[i]);
 
-       return magEigen;
+       return magEigen*1e-6;
 }
 
 Eigen::Vector3d Lsm9ds1::gyro(void)