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| author | Julian Oes <joes@student.ethz.ch> | 2013-04-08 23:29:24 -0700 |
|---|---|---|
| committer | Julian Oes <joes@student.ethz.ch> | 2013-04-08 23:29:24 -0700 |
| commit | 8c70f4412d7e55f22cffa60e0ea953751780f462 (patch) | |
| tree | fede7038d2a9c848ceebb6e3f45ae45aed4bcceb /apps/drivers | |
| parent | f562a279765a7d90bad7b07963995148de4b2af2 (diff) | |
| download | px4-firmware-8c70f4412d7e55f22cffa60e0ea953751780f462.tar.gz px4-firmware-8c70f4412d7e55f22cffa60e0ea953751780f462.tar.bz2 px4-firmware-8c70f4412d7e55f22cffa60e0ea953751780f462.zip | |
Fixed axis in L3GD20 driver
Diffstat (limited to 'apps/drivers')
| -rw-r--r-- | apps/drivers/l3gd20/l3gd20.cpp | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/apps/drivers/l3gd20/l3gd20.cpp b/apps/drivers/l3gd20/l3gd20.cpp index 6227df72a..c7f433dd4 100644 --- a/apps/drivers/l3gd20/l3gd20.cpp +++ b/apps/drivers/l3gd20/l3gd20.cpp @@ -684,9 +684,10 @@ L3GD20::measure() * 74 from all measurements centers them around zero. */ report->timestamp = hrt_absolute_time(); - /* XXX adjust for sensor alignment to board here */ - report->x_raw = raw_report.x; - report->y_raw = raw_report.y; + + /* swap x and y and negate y */ + report->x_raw = raw_report.y; + report->y_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x); report->z_raw = raw_report.z; report->x = ((report->x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale; |