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Fixed incorrect accelerometer scaling in MSP (#13026)

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Flavio Pinzarrone 2023-12-04 16:50:08 +01:00 • committed by GitHub
parent 13d1dc81ce
commit 4c86e31d1e
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1 changed files with 1 additions and 15 deletions
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16
src/main/msp/msp.c
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@ -1132,24 +1132,10 @@ static bool mspProcessOutCommand(mspDescriptor_t srcDesc, int16_t cmdMSP, sbuf_t
case MSP_RAW_IMU: case MSP_RAW_IMU:
{ {
#if defined(USE_ACC)
// Hack scale due to choice of units for sensor data in multiwii
uint8_t scale;
if (acc.dev.acc_1G > 512 * 4) {
scale = 8;
} else if (acc.dev.acc_1G > 512 * 2) {
scale = 4;
} else if (acc.dev.acc_1G >= 512) {
scale = 2;
} else {
scale = 1;
}
#endif
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
#if defined(USE_ACC) #if defined(USE_ACC)
sbufWriteU16(dst, lrintf(acc.accADC[i] / scale)); sbufWriteU16(dst, lrintf(acc.accADC[i]));
#else #else
sbufWriteU16(dst, 0); sbufWriteU16(dst, 0);
#endif #endif