Pass acc data in mG in SCALED_IMU to comply with mavlink standard

https://mavlink.io/en/messages/common.html#SCALED_IMU
pyflix@0.13

flix/mavlink.ino

@@ -65,7 +65,7 @@ void sendMavlink() {
 		sendMessage(&msg);
 
 		mavlink_msg_scaled_imu_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time,
-			acc.x * 1000, -acc.y * 1000, -acc.z * 1000, // convert to frd
+			acc.x / ONE_G * 1000, -acc.y / ONE_G * 1000, -acc.z / ONE_G * 1000, // convert to frd
 			gyro.x * 1000, -gyro.y * 1000, -gyro.z * 1000,
 			0, 0, 0, 0);
 		sendMessage(&msg);

tools/pyflix/flix.py

@@ -186,7 +186,8 @@ class Flix:
             self._trigger('motors', self.motors)
 
         if isinstance(msg, mavlink.MAVLink_scaled_imu_message):
-            self.acc = self._mavlink_to_flu([msg.xacc / 1000, msg.yacc / 1000, msg.zacc / 1000])
+            ONE_G = 9.80665
+            self.acc = self._mavlink_to_flu([msg.xacc * ONE_G / 1000, msg.yacc * ONE_G / 1000, msg.zacc * ONE_G / 1000])
             self.gyro = self._mavlink_to_flu([msg.xgyro / 1000, msg.ygyro / 1000, msg.zgyro / 1000])
             self._trigger('acc', self.acc)
             self._trigger('gyro', self.gyro)

tools/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "pyflix"
-version = "0.12"
+version = "0.13"
 description = "Python API for Flix drone"
 authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }]
 license = "MIT"