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improved altitude hold thanks to Luggi09

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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@386 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-08-24 14:57:26 +00:00
parent 659a8f537f
commit f663a57613
6 changed files with 137 additions and 56 deletions
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10
src/drv_mpu6050.c
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@ -233,9 +233,9 @@ bool mpu6050Detect(sensor_t *acc, sensor_t *gyro, uint16_t lpf, uint8_t *scale)
static void mpu6050AccInit(void)
{
if (mpuAccelHalf)
acc_1G = 255;
acc_1G = 255 * 8;
else
acc_1G = 512;
acc_1G = 512 * 8;
}
static void mpu6050AccRead(int16_t *accData)
@ -244,9 +244,9 @@ static void mpu6050AccRead(int16_t *accData)
#ifndef MPU6050_DMP
i2cRead(MPU6050_ADDRESS, MPU_RA_ACCEL_XOUT_H, 6, buf);
accData[0] = (int16_t)((buf[0] << 8) | buf[1]) / 8;
accData[1] = (int16_t)((buf[2] << 8) | buf[3]) / 8;
accData[2] = (int16_t)((buf[4] << 8) | buf[5]) / 8;
accData[0] = (int16_t)((buf[0] << 8) | buf[1]);
accData[1] = (int16_t)((buf[2] << 8) | buf[3]);
accData[2] = (int16_t)((buf[4] << 8) | buf[5]);
#else
accData[0] = accData[1] = accData[2] = 0;
#endif