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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-03-25 21:53:03 -0700 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-03-25 21:53:03 -0700 |
| commit | 1bbfe571fa4fb911e11f17aff4c2e2ff0d065566 (patch) | |
| tree | f04ed9b41ff0075c1165a2824cf7c7bc2cf41608 /src/drivers/mpu6000/mpu6000.cpp | |
| parent | 4318a26b64330bbc50a3df6846efe81eaa83aa38 (diff) | |
| parent | 9442fc13e4a93ba43300aa4648e9c9033075a70e (diff) | |
| download | px4-firmware-1bbfe571fa4fb911e11f17aff4c2e2ff0d065566.tar.gz px4-firmware-1bbfe571fa4fb911e11f17aff4c2e2ff0d065566.tar.bz2 px4-firmware-1bbfe571fa4fb911e11f17aff4c2e2ff0d065566.zip | |
Merge branch 'pullrequest-imu-temperature' of git://github.com/tridge/Firmware
Diffstat (limited to 'src/drivers/mpu6000/mpu6000.cpp')
| -rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp | 13 |
1 files changed, 10 insertions, 3 deletions
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index eaf25a9f3..727132a64 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -284,6 +284,9 @@ private: // self test volatile bool _in_factory_test; + // last temperature reading for print_info() + float _last_temperature; + /** * Start automatic measurement. */ @@ -518,7 +521,8 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev _gyro_filter_z(MPU6000_GYRO_DEFAULT_RATE, MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ), _rotation(rotation), _checked_next(0), - _in_factory_test(false) + _in_factory_test(false), + _last_temperature(0) { // disable debug() calls _debug_enabled = false; @@ -1729,8 +1733,10 @@ MPU6000::measure() arb.scaling = _accel_range_scale; arb.range_m_s2 = _accel_range_m_s2; + _last_temperature = (report.temp) / 361.0f + 35.0f; + arb.temperature_raw = report.temp; - arb.temperature = (report.temp) / 361.0f + 35.0f; + arb.temperature = _last_temperature; grb.x_raw = report.gyro_x; grb.y_raw = report.gyro_y; @@ -1755,7 +1761,7 @@ MPU6000::measure() grb.range_rad_s = _gyro_range_rad_s; grb.temperature_raw = report.temp; - grb.temperature = (report.temp) / 361.0f + 35.0f; + grb.temperature = _last_temperature; _accel_reports->force(&arb); _gyro_reports->force(&grb); @@ -1803,6 +1809,7 @@ MPU6000::print_info() (unsigned)_checked_values[i]); } } + ::printf("temperature: %.1f\n", _last_temperature); } void |