diff options
Diffstat (limited to 'src/drivers/mpu6000/mpu6000.cpp')
-rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp | 10 |
1 files changed, 6 insertions, 4 deletions
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 0e65923db..14f8f44b8 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -159,6 +159,8 @@ #define MPU6000_DEFAULT_ONCHIP_FILTER_FREQ 42 +#define MPU6000_ONE_G 9.80665f + class MPU6000_gyro; class MPU6000 : public device::SPI @@ -543,8 +545,8 @@ void MPU6000::reset() // Correct accel scale factors of 4096 LSB/g // scale to m/s^2 ( 1g = 9.81 m/s^2) - _accel_range_scale = (CONSTANTS_ONE_G / 4096.0f); - _accel_range_m_s2 = 8.0f * CONSTANTS_ONE_G; + _accel_range_scale = (MPU6000_ONE_G / 4096.0f); + _accel_range_m_s2 = 8.0f * MPU6000_ONE_G; usleep(1000); @@ -906,7 +908,7 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) // _accel_range_m_s2 = 8.0f * 9.81f; return -EINVAL; case ACCELIOCGRANGE: - return (unsigned long)((_accel_range_m_s2)/CONSTANTS_ONE_G + 0.5f); + return (unsigned long)((_accel_range_m_s2)/MPU6000_ONE_G + 0.5f); case ACCELIOCSELFTEST: return accel_self_test(); @@ -1409,7 +1411,7 @@ test() warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw); warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw); warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2, - (double)(a_report.range_m_s2 / CONSTANTS_ONE_G)); + (double)(a_report.range_m_s2 / MPU6000_ONE_G)); /* do a simple demand read */ sz = read(fd_gyro, &g_report, sizeof(g_report)); |