diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-27 09:08:34 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-27 09:08:34 +0200 |
| commit | 248bb11d933cae03d7e57f0b746fd416204c2b3d (patch) | |
| tree | dcedc766761dc3d9cc097b3a06edc4d05d9c71e3 /apps/drivers/mpu6000/mpu6000.cpp | |
| parent | 58b51743f2886120062056a12f9f52ef0e77653a (diff) | |
| download | px4-firmware-248bb11d933cae03d7e57f0b746fd416204c2b3d.tar.gz px4-firmware-248bb11d933cae03d7e57f0b746fd416204c2b3d.tar.bz2 px4-firmware-248bb11d933cae03d7e57f0b746fd416204c2b3d.zip | |
removed stop() from I2C driver startup routines, work in progress on MPU scaling
Diffstat (limited to 'apps/drivers/mpu6000/mpu6000.cpp')
| -rw-r--r-- | apps/drivers/mpu6000/mpu6000.cpp | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp index cb526d52a..3987e13cc 100644 --- a/apps/drivers/mpu6000/mpu6000.cpp +++ b/apps/drivers/mpu6000/mpu6000.cpp @@ -831,7 +831,7 @@ MPU6000::measure() report.temp = (((int16_t)mpu_report.temp[0]) << 8) | mpu_report.temp[1]; - report.gyro_x = ((int16_t)(mpu_report.gyro_x[0]) << 8) | mpu_report.gyro_x[1]; + report.gyro_x = int16_t_from_bytes(mpu_report.gyro_x); report.gyro_y = ((int16_t)(mpu_report.gyro_y[0]) << 8) | mpu_report.gyro_y[1]; report.gyro_z = ((int16_t)(mpu_report.gyro_z[0]) << 8) | mpu_report.gyro_z[1]; @@ -839,7 +839,7 @@ MPU6000::measure() * Swap axes and negate y */ int16_t accel_xt = report.accel_y; - int16_t accel_yt = ((report.accel_x == -32768) ? 32767 : -report.accel_x); + int16_t accel_yt = report.accel_x;//((report.accel_x == -32768) ? 32767 : -report.accel_x); int16_t gyro_xt = report.gyro_y; int16_t gyro_yt = ((report.gyro_x == -32768) ? 32767 : -report.gyro_x); @@ -1030,9 +1030,9 @@ test() warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x); warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y); warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z); - warnx("acc x: \t%d\traw", (int)a_report.x_raw); - warnx("acc y: \t%d\traw", (int)a_report.y_raw); - warnx("acc z: \t%d\traw", (int)a_report.z_raw); + warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw); + warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw); + warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw); warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2, (double)(a_report.range_m_s2 / 9.81f)); |