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Fix incorrect presentation of data in RAW_IMU message

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Konstantin Sharlaimov (DigitalEntity) 2017-11-29 22:33:21 +10:00
parent 77a2e859eb
commit aa3ce0faad
1 changed files with 1 additions and 1 deletions
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2
src/main/fc/fc_msp.c
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@ -404,7 +404,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
// Hack scale due to choice of units for sensor data in multiwii // Hack scale due to choice of units for sensor data in multiwii
const uint8_t scale = (acc.dev.acc_1G > 1024) ? 8 : 1; const uint8_t scale = (acc.dev.acc_1G > 1024) ? 8 : 1;
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
sbufWriteU16(dst, acc.accADCf[i] * acc.dev.acc_1G / scale); sbufWriteU16(dst, (int16_t)lrintf(acc.accADCf[i] * acc.dev.acc_1G / scale));
} }
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
sbufWriteU16(dst, gyroRateDps(i)); sbufWriteU16(dst, gyroRateDps(i));