Rescaled accelerations to m/s^2 from g's

Author: amiller27

include/iarc7_fc_comms/MspCommands.hpp

@@ -216,7 +216,7 @@ namespace FcComms
 
         uint8_t response[FcCommsMspConf::kMspMaxDataLength];
 
-        // Returns the IMU values
+        // Returns the IMU values in m/s^2
         void getAcc(double (&acc_values)[3])
         {
             // Jetson runs in little endian mode and the FC
@@ -238,7 +238,7 @@ namespace FcComms
                 // We are also using a hacked up version of cleanflight that does not
                 // apply this scaling factor using a bitshift hack before sending so
                 // we need to do it here.
-                acc_values[i] = static_cast<double>(*temp)/(512.0 * 8.0);
+                acc_values[i] = 9.8 * static_cast<double>(*temp)/(512.0 * 8.0);
             }
         }
     };

include/iarc7_fc_comms/MspFcComms.hpp

@@ -72,6 +72,7 @@ namespace FcComms
         FcCommsReturns  __attribute__((warn_unused_result))
             printRawRC();
 
+        // Get the acceleration in m/s^2
         FcCommsReturns  __attribute__((warn_unused_result))
             getAccelerations(double (&accelerations)[3]);