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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-07 12:49:31 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-07 12:49:31 +0200 |
| commit | 1538247a72f37a2f969aa5c41f7a07da4ae31d35 (patch) | |
| tree | 53a53c88e2f1d7150af9f6670eac326e37bb98c0 /apps/sensors/sensors.cpp | |
| parent | 5066ce1e9132f94bfcabaee3e16c3d9aac4801e8 (diff) | |
| download | px4-firmware-1538247a72f37a2f969aa5c41f7a07da4ae31d35.tar.gz px4-firmware-1538247a72f37a2f969aa5c41f7a07da4ae31d35.tar.bz2 px4-firmware-1538247a72f37a2f969aa5c41f7a07da4ae31d35.zip | |
Sensor sending rate fixes
Diffstat (limited to 'apps/sensors/sensors.cpp')
| -rw-r--r-- | apps/sensors/sensors.cpp | 10 |
1 files changed, 10 insertions, 0 deletions
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index 217b05e9d..963c54b8e 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -696,6 +696,16 @@ Sensors::gyro_poll(struct sensor_combined_s &raw) gyro_report.y = (gyro_report.y_raw - _parameters.gyro_offset[1]) * 0.000266316109f; gyro_report.z = (gyro_report.z_raw - _parameters.gyro_offset[2]) * 0.000266316109f; + raw.gyro_rad_s[0] = gyro_report.x; + raw.gyro_rad_s[1] = gyro_report.y; + raw.gyro_rad_s[2] = gyro_report.z; + + raw.gyro_raw[0] = gyro_report.x_raw; + raw.gyro_raw[1] = gyro_report.y_raw; + raw.gyro_raw[2] = gyro_report.z_raw; + + raw.gyro_counter++; + } else { bool gyro_updated; |