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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-22 16:20:05 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-22 16:20:05 +0200 |
| commit | 5f259e41d563a786777785072306ca5b5763ec79 (patch) | |
| tree | 2beb2e22c2aa8462f51e3dd998fdc322a77fd789 /apps/drivers | |
| parent | fa9f145b08cace0f48c808cf307daf6cd43d9bd6 (diff) | |
| parent | 1530aeccae706fe8024b4de2293060539c01ceaa (diff) | |
| download | px4-firmware-5f259e41d563a786777785072306ca5b5763ec79.tar.gz px4-firmware-5f259e41d563a786777785072306ca5b5763ec79.tar.bz2 px4-firmware-5f259e41d563a786777785072306ca5b5763ec79.zip | |
Sensor readout, testing and driver adjustments
Diffstat (limited to 'apps/drivers')
| -rw-r--r-- | apps/drivers/mpu6000/mpu6000.cpp | 13 |
1 files changed, 7 insertions, 6 deletions
diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp index 951e1a062..999790e8a 100644 --- a/apps/drivers/mpu6000/mpu6000.cpp +++ b/apps/drivers/mpu6000/mpu6000.cpp @@ -288,9 +288,9 @@ MPU6000::MPU6000(int bus, spi_dev_e device) : _gyro(new MPU6000_gyro(this)), _product(0), _call_interval(0), - _accel_range_scale(1.0f), + _accel_range_scale(0.02f), _accel_topic(-1), - _gyro_range_scale(1.0f), + _gyro_range_scale(0.02f), _gyro_topic(-1), _reads(0), _sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")) @@ -826,7 +826,7 @@ test() fd = open(ACCEL_DEVICE_PATH, O_RDONLY); if (fd < 0) { - reason = "can't open driver"; + reason = "can't open driver, use <mpu6000 start> first"; break; } @@ -841,9 +841,10 @@ test() printf("single read\n"); fflush(stdout); printf("time: %lld\n", report.timestamp); - printf("x: %f\n", report.x); - printf("y: %f\n", report.y); - printf("z: %f\n", report.z); + printf("x: %5.2f\n", (double)report.x); + printf("y: %5.2f\n", (double)report.y); + printf("z: %5.2f\n", (double)report.z); + printf("test: %8.4f\n", 1.5); } while (0); |