private void applyCalibs(ref int yaw, ref int pitch, ref int roll,
ref int accelX, ref int accelY, ref int accelZ)
{
CalibData current = calibrationData[0];
temInt = pitch - current.bias;
pitch = temInt = (int)(temInt * (current.sensNumer / (float)current.sensDenom));
current = calibrationData[1];
temInt = yaw - current.bias;
yaw = temInt = (int)(temInt * (current.sensNumer / (float)current.sensDenom));
current = calibrationData[2];
temInt = roll - current.bias;
roll = temInt = (int)(temInt * (current.sensNumer / (float)current.sensDenom));
current = calibrationData[3];
temInt = accelX - current.bias;
accelX = temInt = (int)(temInt * (current.sensNumer / (float)current.sensDenom));
current = calibrationData[4];
temInt = accelY - current.bias;
accelY = temInt = (int)(temInt * (current.sensNumer / (float)current.sensDenom));
current = calibrationData[5];
temInt = accelZ - current.bias;
accelZ = temInt = (int)(temInt * (current.sensNumer / (float)current.sensDenom));
}
private void Calib(ref int value, CalibData current) => value = (int)((value - current.Bias) * (current.SensNumer / (float)current.SensDenom));