anchor.diff:          Z:16/little-signed,
           Gain:8
       >> = Telemetry,
  +    MPUCoefs = [6.1035156E-05, 1.2207031E-04, 2.4414063E-04, 4.8828125E-04],
       Coef = case Sensor of
  -        'MPU6000A' -> lists:nth(Gain + 1, [0.00006103515625, 0.0001220703125, 0.000244140625, 0.00048828125]);
  -        'MPU9150A' -> lists:nth(Gain + 1, [0.00006103515625, 0.0001220703125, 0.000244140625, 0.00048828125])
  +        'MPU6000A' -> lists:nth(Gain + 1, MPUCoefs);
  +        'MPU9150A' -> lists:nth(Gain + 1, MPUCoefs)
       end,
       #tm_accel{
           x = X * Coef,
           y = Y * Coef,
           z = Z * Coef
       }.
  +
  +
   
   %%
   %%  Gyroscope and temperature data.
  
positive.code:         Temp:16/little-signed,
          Gain:8
      >> = Telemetry,
      Coef = case Sensor of
          'MPU6000A' -> lists:nth(Gain + 1, [0.00762939453125, 0.0152587890625, 0.030517578125, 0.061035156250]);
          'MPU9150A' -> lists:nth(Gain + 1, [0.00762939453125, 0.0152587890625, 0.030517578125, 0.061035156250]);
          'L3GD20'   -> lists:nth(Gain + 1, [0.01525878906250, 0.0305175781250, 0.061035156250, 0.061035156250])
      end,
      #tm_gyro{
          x = X * Coef,
  
negative.code:         Z:16/little-signed,
          Gain:8
      >> = Telemetry,
      Coef_mG_to_uT = 0.1,   % Converts mili Gauses to micro Teslas.
      Coef = case Sensor of
          'HMC5883L' -> lists:nth(Gain + 1, [0.73, 0.92, 1.22, 1.52, 2.27, 2.56, 3.03, 4.35] * Coef_mG_to_uT);
          'AK8975'   -> lists:nth(Gain + 1, [0.3])
      end,
      #tm_mag{
  