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Changed gyro scaling according to datasheet

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This commit is contained in:
Julian Oes
2013-07-30 15:10:22 +02:00
parent 1543c99003
commit 7e9a18da79
1 changed files with 7 additions and 3 deletions
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src/drivers/l3gd20/l3gd20.cpp
+7 -3
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@@ -559,28 +559,32 @@ int
L3GD20::set_range(unsigned max_dps)
{
uint8_t bits = REG4_BDU;
float new_range_scale_dps_digit;
if (max_dps == 0)
if (max_dps == 0) {
max_dps = 2000;
}
if (max_dps <= 250) {
_current_range = 250;
bits |= RANGE_250DPS;
new_range_scale_dps_digit = 8.75e-3f;
} else if (max_dps <= 500) {
_current_range = 500;
bits |= RANGE_500DPS;
new_range_scale_dps_digit = 17.5e-3f;
} else if (max_dps <= 2000) {
_current_range = 2000;
bits |= RANGE_2000DPS;
new_range_scale_dps_digit = 70e-3f;
} else {
return -EINVAL;
}
_gyro_range_rad_s = _current_range / 180.0f * M_PI_F;
_gyro_range_scale = _gyro_range_rad_s / 32768.0f;
_gyro_range_scale = new_range_scale_dps_digit / 180.0f * M_PI_F;
write_reg(ADDR_CTRL_REG4, bits);
return OK;