From 52542f9802369b09d8502d61b8dd496ee27067cb Mon Sep 17 00:00:00 2001 From: Thijs Raymakers Date: Thu, 28 Mar 2019 23:49:18 +0100 Subject: [PATCH] adis16497: fix TEMP_OUT scaling --- src/drivers/imu/adis16497/ADIS16497.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/drivers/imu/adis16497/ADIS16497.cpp b/src/drivers/imu/adis16497/ADIS16497.cpp index 73d26eba53..34af976a3d 100644 --- a/src/drivers/imu/adis16497/ADIS16497.cpp +++ b/src/drivers/imu/adis16497/ADIS16497.cpp @@ -613,7 +613,7 @@ ADIS16497::publish_accel(const hrt_abstime &t, const ADISReport &report) arb.y_integral = aval_integrated(1); arb.z_integral = aval_integrated(2); - arb.temperature = report.TEMP_OUT * 0.1f - 25.0f; // 1 LSB = 0.1°C, 0x0000 at 25°C + arb.temperature = report.TEMP_OUT * 0.0125f - 25.0f; // 1 LSB = 0.0125°C, 0x0000 at 25°C orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb); } @@ -662,7 +662,7 @@ ADIS16497::publish_gyro(const hrt_abstime &t, const ADISReport &report) grb.y_integral = gval_integrated(1); grb.z_integral = gval_integrated(2); - grb.temperature = report.TEMP_OUT * 0.1f - 25.0f; // 1 LSB = 0.1°C, 0x0000 at 25°C + grb.temperature = report.TEMP_OUT * 0.0125f - 25.0f; // 1 LSB = 0.0125°C, 0x0000 at 25°C orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb); }