From 4faf00de942d710f637ed4a4c2d2efa7934c12c1 Mon Sep 17 00:00:00 2001
From: Marius Eggert <eggertm@irs.uni-stuttgart.de>
Date: Thu, 3 Nov 2022 14:23:06 +0100
Subject: [PATCH] converted MTQ MGM readings from nT to uT

---
 mission/controller/acs/SensorProcessing.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/mission/controller/acs/SensorProcessing.cpp b/mission/controller/acs/SensorProcessing.cpp
index 1baa4007..bb445485 100644
--- a/mission/controller/acs/SensorProcessing.cpp
+++ b/mission/controller/acs/SensorProcessing.cpp
@@ -102,8 +102,10 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
     }
   }
   if (mgm4valid) {
-    VectorOperations<float>::subtract(mgm4Value, mgmParameters->mgm4hardIronOffset, mgm4ValueNoBias,
-                                      3);
+    float mgm4ValueNT[3];
+    VectorOperations<float>::mulScalar(mgm4Value, 1e3, mgm4ValueNT, 3);  // uT to nT
+    VectorOperations<float>::subtract(mgm4ValueNT, mgmParameters->mgm4hardIronOffset,
+                                      mgm4ValueNoBias, 3);
     MatrixOperations<float>::multiply(mgmParameters->mgm4softIronInverse[0], mgm4ValueNoBias,
                                       mgm4ValueCalib, 3, 3, 1);
     MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueCalib,