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drivers/lsm303agr: fixed bug incorrectly assembling signed 16 bit integer from bytes

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garfieldG
2021-01-05 21:37:08 -05:00
committed by GitHub
parent 01e3f0d586
commit 3fb8f5df62
1 changed files with 3 additions and 3 deletions
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src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp
+3 -3
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@@ -315,9 +315,9 @@ int LSM303AGR::collect()
const hrt_abstime timestamp_sample = hrt_absolute_time(); const hrt_abstime timestamp_sample = hrt_absolute_time();
// switch to right hand coordinate system in place // switch to right hand coordinate system in place
float x_raw = read_reg(OUTX_L_REG_M) + (read_reg(OUTX_H_REG_M) << 8); int16_t x_raw = read_reg(OUTX_L_REG_M) + (read_reg(OUTX_H_REG_M) << 8);
float y_raw = read_reg(OUTY_L_REG_M) + (read_reg(OUTY_H_REG_M) << 8); int16_t y_raw = read_reg(OUTY_L_REG_M) + (read_reg(OUTY_H_REG_M) << 8);
float z_raw = -(read_reg(OUTZ_L_REG_M) + (read_reg(OUTZ_H_REG_M) << 8)); int16_t z_raw = -(read_reg(OUTZ_L_REG_M) + (read_reg(OUTZ_H_REG_M) << 8));
_px4_mag.update(timestamp_sample, x_raw, y_raw, z_raw); _px4_mag.update(timestamp_sample, x_raw, y_raw, z_raw);