From 0d000173b5c89873e46f2b5bed21b4f5bcd462e1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Fri, 3 Feb 2017 13:13:40 +0100 Subject: [PATCH] l3gd20 selftest: don't check for 0 offset If temperature compensation is enabled, the offset will be 0 --- src/drivers/l3gd20/l3gd20.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index a2533abde9..ed69387064 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -1147,8 +1147,8 @@ L3GD20::test_error() int L3GD20::self_test() { - /* evaluate gyro offsets, complain if offset -> zero or larger than 25 dps */ - if (fabsf(_gyro_scale.x_offset) > L3GD20_MAX_OFFSET || fabsf(_gyro_scale.x_offset) < 0.000001f) { + /* evaluate gyro offsets, complain if offset larger than 25 dps */ + if (fabsf(_gyro_scale.x_offset) > L3GD20_MAX_OFFSET) { return 1; } @@ -1156,7 +1156,7 @@ L3GD20::self_test() return 1; } - if (fabsf(_gyro_scale.y_offset) > L3GD20_MAX_OFFSET || fabsf(_gyro_scale.y_offset) < 0.000001f) { + if (fabsf(_gyro_scale.y_offset) > L3GD20_MAX_OFFSET) { return 1; } @@ -1164,7 +1164,7 @@ L3GD20::self_test() return 1; } - if (fabsf(_gyro_scale.z_offset) > L3GD20_MAX_OFFSET || fabsf(_gyro_scale.z_offset) < 0.000001f) { + if (fabsf(_gyro_scale.z_offset) > L3GD20_MAX_OFFSET) { return 1; }