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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-21 18:13:01 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-21 18:13:01 +0200 |
| commit | fab110d21f147e5064ff140aadac649017fa466e (patch) | |
| tree | b41291188db4e5734353f0d09a0af306c58ed9f5 /src/drivers/lsm303d | |
| parent | 309ea8146055528c22395fca06b7a70b660c22b3 (diff) | |
| download | px4-firmware-fab110d21f147e5064ff140aadac649017fa466e.tar.gz px4-firmware-fab110d21f147e5064ff140aadac649017fa466e.tar.bz2 px4-firmware-fab110d21f147e5064ff140aadac649017fa466e.zip | |
Moved math library to library dir, improved sensor-level HIL, cleaned up geo / conversion libs
Diffstat (limited to 'src/drivers/lsm303d')
| -rw-r--r-- | src/drivers/lsm303d/lsm303d.cpp | 17 |
1 files changed, 9 insertions, 8 deletions
diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index efe7cf8eb..cf5f8d94c 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -54,7 +54,6 @@ #include <systemlib/perf_counter.h> #include <systemlib/err.h> -#include <systemlib/geo/geo.h> #include <nuttx/arch.h> #include <nuttx/clock.h> @@ -178,6 +177,8 @@ static const int ERROR = -1; #define LSM303D_MAG_DEFAULT_RANGE_GA 2 #define LSM303D_MAG_DEFAULT_RATE 100 +#define LSM303D_ONE_G 9.80665f + extern "C" { __EXPORT int lsm303d_main(int argc, char *argv[]); } @@ -778,7 +779,7 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg) case ACCELIOCGRANGE: /* convert to m/s^2 and return rounded in G */ - return (unsigned long)((_accel_range_m_s2)/CONSTANTS_ONE_G + 0.5f); + return (unsigned long)((_accel_range_m_s2)/LSM303D_ONE_G + 0.5f); case ACCELIOCGSCALE: /* copy scale out */ @@ -1015,27 +1016,27 @@ LSM303D::accel_set_range(unsigned max_g) max_g = 16; if (max_g <= 2) { - _accel_range_m_s2 = 2.0f*CONSTANTS_ONE_G; + _accel_range_m_s2 = 2.0f*LSM303D_ONE_G; setbits |= REG2_FULL_SCALE_2G_A; new_scale_g_digit = 0.061e-3f; } else if (max_g <= 4) { - _accel_range_m_s2 = 4.0f*CONSTANTS_ONE_G; + _accel_range_m_s2 = 4.0f*LSM303D_ONE_G; setbits |= REG2_FULL_SCALE_4G_A; new_scale_g_digit = 0.122e-3f; } else if (max_g <= 6) { - _accel_range_m_s2 = 6.0f*CONSTANTS_ONE_G; + _accel_range_m_s2 = 6.0f*LSM303D_ONE_G; setbits |= REG2_FULL_SCALE_6G_A; new_scale_g_digit = 0.183e-3f; } else if (max_g <= 8) { - _accel_range_m_s2 = 8.0f*CONSTANTS_ONE_G; + _accel_range_m_s2 = 8.0f*LSM303D_ONE_G; setbits |= REG2_FULL_SCALE_8G_A; new_scale_g_digit = 0.244e-3f; } else if (max_g <= 16) { - _accel_range_m_s2 = 16.0f*CONSTANTS_ONE_G; + _accel_range_m_s2 = 16.0f*LSM303D_ONE_G; setbits |= REG2_FULL_SCALE_16G_A; new_scale_g_digit = 0.732e-3f; @@ -1043,7 +1044,7 @@ LSM303D::accel_set_range(unsigned max_g) return -EINVAL; } - _accel_range_scale = new_scale_g_digit * CONSTANTS_ONE_G; + _accel_range_scale = new_scale_g_digit * LSM303D_ONE_G; modify_reg(ADDR_CTRL_REG2, clearbits, setbits); |