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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-15 17:19:21 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-15 17:19:21 +0100 |
| commit | df5e4d19042985bd567845dfa464170c169829b4 (patch) | |
| tree | b706e225daa832b354dd2f933382d818db4a7bf9 /apps/drivers/mpu6000/mpu6000.cpp | |
| parent | 74d543cfc9e2d63caf2d10b4a93227608a2c2930 (diff) | |
| download | px4-firmware-df5e4d19042985bd567845dfa464170c169829b4.tar.gz px4-firmware-df5e4d19042985bd567845dfa464170c169829b4.tar.bz2 px4-firmware-df5e4d19042985bd567845dfa464170c169829b4.zip | |
Improved self-test logic
Diffstat (limited to 'apps/drivers/mpu6000/mpu6000.cpp')
| -rw-r--r-- | apps/drivers/mpu6000/mpu6000.cpp | 14 |
1 files changed, 11 insertions, 3 deletions
diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp index 2ac71d89c..ed79440cc 100644 --- a/apps/drivers/mpu6000/mpu6000.cpp +++ b/apps/drivers/mpu6000/mpu6000.cpp @@ -610,9 +610,17 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) return -EINVAL; case ACCELIOCSSCALE: - /* copy scale in */ - memcpy(&_accel_scale, (struct accel_scale *) arg, sizeof(_accel_scale)); - return OK; + { + /* copy scale, but only if off by a few percent */ + struct accel_scale *s = (struct accel_scale *) arg; + float sum = s->x_scale + s->y_scale + s->z_scale; + if (sum > 2.0f && sum < 4.0f) { + memcpy(&_accel_scale, s, sizeof(_accel_scale)); + return OK; + } else { + return -EINVAL; + } + } case ACCELIOCGSCALE: /* copy scale out */ |