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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-11-03 15:46:40 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-11-03 15:46:40 +0100 |
| commit | a917b0d40bd48f8ae30cd9f92717e20153d58c5b (patch) | |
| tree | 4b666c4c453fce7973df48af90cfb6cde671cec2 | |
| parent | 1cab08cc2aba8b256c21729d45eb7dd5802a0728 (diff) | |
| parent | c600a7fbd27c298e855d1f3e6f00f590141f995e (diff) | |
| download | px4-firmware-a917b0d40bd48f8ae30cd9f92717e20153d58c5b.tar.gz px4-firmware-a917b0d40bd48f8ae30cd9f92717e20153d58c5b.tar.bz2 px4-firmware-a917b0d40bd48f8ae30cd9f92717e20153d58c5b.zip | |
Merge pull request #1426 from PX4/gyrotemp
L3GD20: Output gyro temperature in report
| -rw-r--r-- | src/drivers/l3gd20/l3gd20.cpp | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index cfae8761c..82fa5cc6e 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -176,6 +176,7 @@ static const int ERROR = -1; #define L3G4200D_DEFAULT_RATE 800 #define L3GD20_DEFAULT_RANGE_DPS 2000 #define L3GD20_DEFAULT_FILTER_FREQ 30 +#define L3GD20_TEMP_OFFSET_CELSIUS 40 #ifndef SENSOR_BOARD_ROTATION_DEFAULT #define SENSOR_BOARD_ROTATION_DEFAULT SENSOR_BOARD_ROTATION_270_DEG @@ -856,7 +857,7 @@ L3GD20::measure() #pragma pack(push, 1) struct { uint8_t cmd; - uint8_t temp; + int8_t temp; uint8_t status; int16_t x; int16_t y; @@ -930,6 +931,8 @@ L3GD20::measure() report.z_raw = raw_report.z; + report.temperature_raw = raw_report.temp; + report.x = ((report.x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale; report.y = ((report.y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale; report.z = ((report.z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale; @@ -938,6 +941,8 @@ L3GD20::measure() report.y = _gyro_filter_y.apply(report.y); report.z = _gyro_filter_z.apply(report.z); + report.temperature = L3GD20_TEMP_OFFSET_CELSIUS - raw_report.temp; + // apply user specified rotation rotate_3f(_rotation, report.x, report.y, report.z); @@ -1091,9 +1096,11 @@ test() warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x); warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y); warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z); + warnx("temp: \t%d\tC", (int)g_report.temperature); warnx("gyro x: \t%d\traw", (int)g_report.x_raw); warnx("gyro y: \t%d\traw", (int)g_report.y_raw); warnx("gyro z: \t%d\traw", (int)g_report.z_raw); + warnx("temp: \t%d\traw", (int)g_report.temperature_raw); warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s, (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f)); |