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bosch/bmi055: fix accel temperature reading

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- single register output is in 2's complement
This commit is contained in:
Daniel Agar 2020-08-28 16:01:08 -04:00
parent 1672fc646f
commit 427b17d8a1
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GPG Key ID: FD3CBA98017A69DE
1 changed files with 2 additions and 1 deletions
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src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp
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@ -455,7 +455,8 @@ void BMI055_Accelerometer::FIFOReset()
void BMI055_Accelerometer::UpdateTemperature()
{
// The slope of the temperature sensor is 0.5K/LSB, its center temperature is 23°C [(ACC 0x08) temp = 0x00].
float temperature = RegisterRead(Register::ACCD_TEMP) * 0.5f + 23.f;
// The register contains the current chip temperature represented in two’s complement format.
float temperature = static_cast<int8_t>(RegisterRead(Register::ACCD_TEMP)) * 0.5f + 23.f;
if (PX4_ISFINITE(temperature)) {
_px4_accel.set_temperature(temperature);