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MPU9250: Make check return values more discriminative

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Lorenz Meier
2016-01-31 14:53:40 +01:00
parent 1245b50ef5
commit 260b77dd78
1 changed files with 6 additions and 6 deletions
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src/drivers/mpu9250/mpu9250.cpp
+6 -6
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@@ -913,27 +913,27 @@ MPU9250::accel_self_test()
/* inspect accel offsets */ /* inspect accel offsets */
if (fabsf(_accel_scale.x_offset) < 0.000001f) { if (fabsf(_accel_scale.x_offset) < 0.000001f) {
return 1; return 2;
} }
if (fabsf(_accel_scale.x_scale - 1.0f) > 0.4f || fabsf(_accel_scale.x_scale - 1.0f) < 0.000001f) { if (fabsf(_accel_scale.x_scale - 1.0f) > 0.4f || fabsf(_accel_scale.x_scale - 1.0f) < 0.000001f) {
return 1; return 3;
} }
if (fabsf(_accel_scale.y_offset) < 0.000001f) { if (fabsf(_accel_scale.y_offset) < 0.000001f) {
return 1; return 4;
} }
if (fabsf(_accel_scale.y_scale - 1.0f) > 0.4f || fabsf(_accel_scale.y_scale - 1.0f) < 0.000001f) { if (fabsf(_accel_scale.y_scale - 1.0f) > 0.4f || fabsf(_accel_scale.y_scale - 1.0f) < 0.000001f) {
return 1; return 5;
} }
if (fabsf(_accel_scale.z_offset) < 0.000001f) { if (fabsf(_accel_scale.z_offset) < 0.000001f) {
return 1; return 6;
} }
if (fabsf(_accel_scale.z_scale - 1.0f) > 0.4f || fabsf(_accel_scale.z_scale - 1.0f) < 0.000001f) { if (fabsf(_accel_scale.z_scale - 1.0f) > 0.4f || fabsf(_accel_scale.z_scale - 1.0f) < 0.000001f) {
return 1; return 7;
} }
return 0; return 0;