Fix IMU sensitivities

The values I found and thought were the normal-mode sensitivies were in fact
specific only to the calibration procedure.

src/imu.c

@@ -228,8 +228,8 @@ static void calibrate_IMU(void){
 	gyro_bias[1]  /= (int32_t) packet_count;
 	gyro_bias[2]  /= (int32_t) packet_count;
 
-	if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) ACCEL_SENSITIVITY;}  // Remove gravity from the z-axis accelerometer bias calculation
-	else {accel_bias[2] += (int32_t) ACCEL_SENSITIVITY;}
+	if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) 16384;}  // Remove gravity from the z-axis accelerometer bias calculation
+	else {accel_bias[2] += (int32_t) 16384;}
 
 	// Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup
 	data[0] = (-gyro_bias[0]/4  >> 8) & 0xFF; // Divide by 4 to get 32.9 LSB per deg/s to conform to expected bias input format

src/settings.h

@@ -40,8 +40,8 @@
 //#define IMU_ID 0x73 // Pawel's IMU
 
 // IMU sensor sensitivities.
-#define GYRO_SENSITIVITY 131    // = 131 LSB/degrees/sec
-#define ACCEL_SENSITIVITY 16384 // = 16384 LSB/g
+#define GYRO_SENSITIVITY 65.5    // = 65.5 LSB/degrees/sec
+#define ACCEL_SENSITIVITY 4096 // = 4096 LSB/g (8g range)
 
 // Allowable limits for rotor speeds (0.0 = 1ms pulse, 1.0 = 2ms pulse).
 #define MIN_ROTOR_SPEED 0.0