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lsm303agr flip z axis and properly set scaling and range

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Daniel Agar 2018-07-09 03:01:43 -04:00 committed by Lorenz Meier
parent 14cf92d8b2
commit be3af59c76
2 changed files with 10 additions and 8 deletions
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14
src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp
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@ -463,10 +463,10 @@ LSM303AGR::collect()
mag_report mag_report = {};
mag_report.timestamp = hrt_absolute_time();
// no auto increment for mag
// switch to right hand coordinate system in place
mag_report.x_raw = read_reg(OUTX_L_REG_M) + (read_reg(OUTX_H_REG_M) << 8);
mag_report.y_raw = read_reg(OUTY_L_REG_M) + (read_reg(OUTY_H_REG_M) << 8);
mag_report.z_raw = read_reg(OUTZ_L_REG_M) + (read_reg(OUTZ_H_REG_M) << 8);
mag_report.z_raw = -(read_reg(OUTZ_L_REG_M) + (read_reg(OUTZ_H_REG_M) << 8));
float xraw_f = mag_report.x_raw;
float yraw_f = mag_report.y_raw;
@ -475,11 +475,11 @@ LSM303AGR::collect()
/* apply user specified rotation */
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
mag_report.x = ((xraw_f) - _mag_scale.x_offset) * _mag_scale.x_scale;
mag_report.y = ((yraw_f) - _mag_scale.y_offset) * _mag_scale.y_scale;
mag_report.z = ((zraw_f) - _mag_scale.z_offset) * _mag_scale.z_scale;
mag_report.scaling = 1.0f;
mag_report.range_ga = (float)_mag_range_ga;
mag_report.x = ((xraw_f * _mag_range_scale) - _mag_scale.x_offset) * _mag_scale.x_scale;
mag_report.y = ((yraw_f * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale;
mag_report.z = ((zraw_f * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale;
mag_report.scaling = _mag_range_scale;
mag_report.range_ga = _mag_range_ga;
mag_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values);
/* remember the temperature. The datasheet isn't clear, but it

4
src/drivers/magnetometer/lsm303agr/LSM303AGR.hpp
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@ -115,7 +115,9 @@ private:
unsigned _call_mag_interval{0};
mag_calibration_s _mag_scale{};
unsigned _mag_range_ga{0};
static constexpr float _mag_range_scale{1.5f / 1000.0f}; // 1.5 milligauss/LSB
static constexpr float _mag_range_ga{49.152f};
int _class_instance{-1};