diff options
Diffstat (limited to 'src/drivers/lsm303d/lsm303d.cpp')
| -rw-r--r-- | src/drivers/lsm303d/lsm303d.cpp | 10 |
1 files changed, 4 insertions, 6 deletions
diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index b107b869f..8a64ee702 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -1067,7 +1067,6 @@ LSM303D::measure() raw_accel_report.cmd = ADDR_STATUS_A | DIR_READ | ADDR_INCREMENT; transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report)); - /* XXX adapt the comment to specs */ /* * 1) Scale raw value to SI units using scaling from datasheet. * 2) Subtract static offset (in SI units) @@ -1085,7 +1084,7 @@ LSM303D::measure() accel_report->timestamp = hrt_absolute_time(); - /* XXX adjust for sensor alignment to board here */ + accel_report->x_raw = raw_accel_report.x; accel_report->y_raw = raw_accel_report.y; accel_report->z_raw = raw_accel_report.z; @@ -1136,7 +1135,6 @@ LSM303D::mag_measure() raw_mag_report.cmd = ADDR_STATUS_M | DIR_READ | ADDR_INCREMENT; transfer((uint8_t *)&raw_mag_report, (uint8_t *)&raw_mag_report, sizeof(raw_mag_report)); - /* XXX adapt the comment to specs */ /* * 1) Scale raw value to SI units using scaling from datasheet. * 2) Subtract static offset (in SI units) @@ -1154,15 +1152,15 @@ LSM303D::mag_measure() mag_report->timestamp = hrt_absolute_time(); - /* XXX adjust for sensor alignment to board here */ + mag_report->x_raw = raw_mag_report.x; mag_report->y_raw = raw_mag_report.y; mag_report->z_raw = raw_mag_report.z; mag_report->x = ((mag_report->x_raw * _mag_range_scale) - _mag_scale.x_offset) * _mag_scale.x_scale; mag_report->y = ((mag_report->y_raw * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale; mag_report->z = ((mag_report->z_raw * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale; -// report->scaling = _gyro_range_scale; -// report->range_rad_s = _gyro_range_rad_s; + mag_report->scaling = _mag_range_scale; + mag_report->range_ga = _mag_range_ga; /* post a report to the ring - note, not locked */ INCREMENT(_next_mag_report, _num_mag_reports); |