private void HandleMonitor5(BinaryReader br, double ts) { RMPMonitor5Msg msg = new RMPMonitor5Msg(br); if (isBackwards) { status.integratedForeAftPosition = -msg.integratedForeAftDisp * 2.0 / 40181.0; status.integratedTurnPosition = msg.integratedYawDisp * 2.0 / 11703.0; } else { status.integratedForeAftPosition = msg.integratedForeAftDisp * 2.0 / 40181.0; status.integratedTurnPosition = msg.integratedYawDisp * 2.0 / 11703.0; } }