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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-26 23:48:16 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-26 23:48:16 +0200 |
| commit | 2963dc679a63309a7b26da1677208fbdb4aec146 (patch) | |
| tree | 2cdf3f4968e98f7474bf4e10c3986893ed7dad6d /apps/drivers/hmc5883/hmc5883.cpp | |
| parent | 56e66a80cdd5f0f09716ee503cdc2810e3e74a69 (diff) | |
| download | px4-firmware-2963dc679a63309a7b26da1677208fbdb4aec146.tar.gz px4-firmware-2963dc679a63309a7b26da1677208fbdb4aec146.tar.bz2 px4-firmware-2963dc679a63309a7b26da1677208fbdb4aec146.zip | |
Driver debugging (scaling, ranges, endianess) MPU-6000 needs more love
Diffstat (limited to 'apps/drivers/hmc5883/hmc5883.cpp')
| -rw-r--r-- | apps/drivers/hmc5883/hmc5883.cpp | 19 |
1 files changed, 12 insertions, 7 deletions
diff --git a/apps/drivers/hmc5883/hmc5883.cpp b/apps/drivers/hmc5883/hmc5883.cpp index 3a194ee11..99deb5da8 100644 --- a/apps/drivers/hmc5883/hmc5883.cpp +++ b/apps/drivers/hmc5883/hmc5883.cpp @@ -649,9 +649,9 @@ HMC5883::collect() } /* swap the data we just received */ - report.x = ((int16_t)hmc_report.x[0] << 8) + hmc_report.x[1]; - report.y = ((int16_t)hmc_report.y[0] << 8) + hmc_report.y[1]; - report.z = ((int16_t)hmc_report.z[0] << 8) + hmc_report.z[1]; + report.x = (((int16_t)hmc_report.x[0]) << 8) + hmc_report.x[1]; + report.y = (((int16_t)hmc_report.y[0]) << 8) + hmc_report.y[1]; + report.z = (((int16_t)hmc_report.z[0]) << 8) + hmc_report.z[1]; /* * If any of the values are -4096, there was an internal math error in the sensor. @@ -662,10 +662,14 @@ HMC5883::collect() (abs(report.z) > 2048)) goto out; - /* raw outputs */ - /* to align the sensor axes with the board, x and y need to be flipped */ + /* + * RAW outputs + * + * to align the sensor axes with the board, x and y need to be flipped + * and y needs to be negated + */ _reports[_next_report].x_raw = report.y; - _reports[_next_report].y_raw = report.x; + _reports[_next_report].y_raw = ((report.x == -32768) ? 32767 : -report.x); /* z remains z */ _reports[_next_report].z_raw = report.z; @@ -688,7 +692,8 @@ HMC5883::collect() /* to align the sensor axes with the board, x and y need to be flipped */ _reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale; - _reports[_next_report].y = ((report.x * _range_scale) - _scale.y_offset) * _scale.y_scale; + /* flip axes and negate value for y */ + _reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale; /* z remains z */ _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; |