Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-25 17:25:18 +03:00
Code Issues Wiki Activity

Change MPU/ICM gyro drivers to use 16G acceleration scale

Browse source
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2018-05-12 22:12:41 +10:00
parent fd790f1235
commit d8288f6821
5 changed files with 10 additions and 12 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/main/fc/fc_msp.c
View file

@ -427,10 +427,8 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
case MSP_RAW_IMU:
{
// Hack scale due to choice of units for sensor data in multiwii
const uint8_t scale = (acc.dev.acc_1G > 1024) ? 8 : 1;
for (int i = 0; i < 3; i++) {
sbufWriteU16(dst, (int16_t)lrintf(acc.accADCf[i] * acc.dev.acc_1G / scale));
sbufWriteU16(dst, (int16_t)lrintf(acc.accADCf[i] * 512));
}
for (int i = 0; i < 3; i++) {
sbufWriteU16(dst, gyroRateDps(i));