fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 17:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed incorrect scaling of acceleration values

Browse Source
This commit is contained in:
Lorenz Meier
2012-08-19 09:35:58 +02:00
parent dcf71d5f69
commit 2a5fcd9174
3 changed files with 8 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/sensors/sensors.c
+3 -3
View File
@@ -819,9 +819,9 @@ int sensors_thread_main(int argc, char *argv[])
// XXX read range from sensor
float range_g = 4.0f;
/* scale from 14 bit to m/s2 */
raw.accelerometer_m_s2[0] = (((raw.accelerometer_raw[0] - acc_offset[0]) * range_g) / 8192.0f) / 9.81f;
raw.accelerometer_m_s2[1] = (((raw.accelerometer_raw[1] - acc_offset[1]) * range_g) / 8192.0f) / 9.81f;
raw.accelerometer_m_s2[2] = (((raw.accelerometer_raw[2] - acc_offset[2]) * range_g) / 8192.0f) / 9.81f;
raw.accelerometer_m_s2[0] = (((raw.accelerometer_raw[0] - acc_offset[0]) / 8192.0f) * range_g) * 9.81f;
raw.accelerometer_m_s2[1] = (((raw.accelerometer_raw[1] - acc_offset[1]) / 8192.0f) * range_g) * 9.81f;
raw.accelerometer_m_s2[2] = (((raw.accelerometer_raw[2] - acc_offset[2]) / 8192.0f) * range_g) * 9.81f;
raw.accelerometer_raw_counter++;
}