diff options
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; |