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L3GD20: Set max offset for gyro to 25 degrees per second based on comment from mailing list about datasheet ratings.

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Lorenz Meier
2015-06-26 07:08:54 +02:00
parent 6eb0bd0d9c
commit 51055a16fc
1 changed files with 6 additions and 4 deletions
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src/drivers/l3gd20/l3gd20.cpp
+6 -4
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@@ -179,6 +179,8 @@ static const int ERROR = -1;
#define L3GD20_DEFAULT_FILTER_FREQ 30
#define L3GD20_TEMP_OFFSET_CELSIUS 40
#define L3GD20_MAX_OFFSET 0.45f /**< max offset: 25 degrees/s */
#ifdef PX4_SPI_BUS_EXT
#define EXTERNAL_BUS PX4_SPI_BUS_EXT
#else
@@ -1102,18 +1104,18 @@ L3GD20::test_error()
int
L3GD20::self_test()
{
/* evaluate gyro offsets, complain if offset -> zero or larger than 6 dps */
if (fabsf(_gyro_scale.x_offset) > 0.1f || fabsf(_gyro_scale.x_offset) < 0.000001f)
/* evaluate gyro offsets, complain if offset -> zero or larger than 25 dps */
if (fabsf(_gyro_scale.x_offset) > L3GD20_MAX_OFFSET || fabsf(_gyro_scale.x_offset) < 0.000001f)
return 1;
if (fabsf(_gyro_scale.x_scale - 1.0f) > 0.3f)
return 1;
if (fabsf(_gyro_scale.y_offset) > 0.1f || fabsf(_gyro_scale.y_offset) < 0.000001f)
if (fabsf(_gyro_scale.y_offset) > L3GD20_MAX_OFFSET || fabsf(_gyro_scale.y_offset) < 0.000001f)
return 1;
if (fabsf(_gyro_scale.y_scale - 1.0f) > 0.3f)
return 1;
if (fabsf(_gyro_scale.z_offset) > 0.1f || fabsf(_gyro_scale.z_offset) < 0.000001f)
if (fabsf(_gyro_scale.z_offset) > L3GD20_MAX_OFFSET || fabsf(_gyro_scale.z_offset) < 0.000001f)
return 1;
if (fabsf(_gyro_scale.z_scale - 1.0f) > 0.3f)
return 1;