From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Mon, 7 Oct 2019 01:21:39 +0000 (-0300)
Subject: Change manetometer abstraction from uT to T.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=c6bfbeca88d8ef445df193ecd3013a6f65b7b44e;p=imufusion.git

Change manetometer abstraction from uT to T.
---

diff --git a/lib/bno055.cpp b/lib/bno055.cpp
index f583642..80fa6fc 100644
--- 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
--- 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
--- 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)