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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-03-25 22:57:32 -0700 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-03-25 22:57:32 -0700 |
| commit | b3c45e7178e5a00195445f34a9c2ef35dfe90570 (patch) | |
| tree | a99088699df3b279329463fd0dd1b4db5901f265 | |
| parent | cb8e32f8332957a6b0e9d46feb0f9b3589ccddae (diff) | |
| download | px4-firmware-b3c45e7178e5a00195445f34a9c2ef35dfe90570.tar.gz px4-firmware-b3c45e7178e5a00195445f34a9c2ef35dfe90570.tar.bz2 px4-firmware-b3c45e7178e5a00195445f34a9c2ef35dfe90570.zip | |
LSM303D: Temp support
| -rw-r--r-- | src/drivers/lsm303d/lsm303d.cpp | 13 |
1 files changed, 7 insertions, 6 deletions
diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 11a046a8d..e594c92a1 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -1640,7 +1640,7 @@ LSM303D::mag_measure() float yraw_f = mag_report.y_raw; float zraw_f = mag_report.z_raw; - // apply user specified rotation + /* apply user specified rotation */ rotate_3f(_rotation, xraw_f, yraw_f, zraw_f); mag_report.x = ((xraw_f * _mag_range_scale) - _mag_scale.x_offset) * _mag_scale.x_scale; @@ -1650,13 +1650,14 @@ LSM303D::mag_measure() mag_report.range_ga = (float)_mag_range_ga; mag_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values); - // remember the temperature. The datasheet isn't clear, but it - // seems to be a signed offset from 25 degrees C in units of 0.125C - _last_temperature = 25 + (raw_mag_report.temperature*0.125f); + /* remember the temperature. The datasheet isn't clear, but it + * seems to be a signed offset from 25 degrees C in units of 0.125C + */ + _last_temperature = 25 + (raw_mag_report.temperature * 0.125f); + mag_report.temperature = _last_temperature; _mag_reports->force(&mag_report); - /* XXX please check this poll_notify, is it the right one? */ /* notify anyone waiting for data */ poll_notify(POLLIN); @@ -1693,7 +1694,7 @@ LSM303D::print_info() (unsigned)_checked_values[i]); } } - ::printf("temperature: %.2f\n", _last_temperature); + ::printf("temperature: %.2f\n", (double)_last_temperature); } void |