module IMU where

cook :: Fractional a => [a] -> [a] -> [a] -> [a]
cook bias gain sample = zipWith (/) (zipWith (-) sample bias) gain

g :: Fractional a => a
g = 9.80665

accel :: Fractional a => [a] -> [a]
accel = cook [ 2400.45, 2462.06, 1918.72, 1907.53 ]
  (map (/g)  [  392.80,  386.90,   77.00,   75.40 ])

gyro :: Fractional a => [a] -> [a]
gyro = cook
  [ 2114.00, 1950.00, 2393.00 ]
  [   22.75,   22.75,   22.75 ]