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Working towards full sensor flexibility

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Lorenz Meier
2012-08-16 11:21:59 +02:00
parent 5198a9daf7
commit 1530aeccae
4 changed files with 246 additions and 129 deletions
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apps/drivers/mpu6000/mpu6000.cpp
+7 -6
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@@ -288,9 +288,9 @@ MPU6000::MPU6000(int bus, spi_dev_e device) :
_gyro(new MPU6000_gyro(this)),
_product(0),
_call_interval(0),
_accel_range_scale(1.0f),
_accel_range_scale(0.02f),
_accel_topic(-1),
_gyro_range_scale(1.0f),
_gyro_range_scale(0.02f),
_gyro_topic(-1),
_reads(0),
_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read"))
@@ -826,7 +826,7 @@ test()
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
reason = "can't open driver";
reason = "can't open driver, use <mpu6000 start> first";
break;
}
@@ -841,9 +841,10 @@ test()
printf("single read\n");
fflush(stdout);
printf("time: %lld\n", report.timestamp);
printf("x: %f\n", report.x);
printf("y: %f\n", report.y);
printf("z: %f\n", report.z);
printf("x: %5.2f\n", (double)report.x);
printf("y: %5.2f\n", (double)report.y);
printf("z: %5.2f\n", (double)report.z);
printf("test: %8.4f\n", 1.5);
} while (0);