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sensor messages remove unused fields and improve comments

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This commit is contained in:
Daniel Agar
2018-07-29 21:04:21 +02:00
committed by Lorenz Meier
parent fc8a05f636
commit cc96e5ec5e
33 changed files with 57 additions and 128 deletions
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src/drivers/imu/mpu6000/mpu6000.cpp
+1 -6
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@@ -1970,6 +1970,7 @@ MPU6000::measure()
/* NOTE: Axes have been swapped to match the board a few lines above. */
arb.scaling = _accel_range_scale;
arb.x_raw = report.accel_x;
arb.y_raw = report.accel_y;
arb.z_raw = report.accel_z;
@@ -1997,9 +1998,6 @@ MPU6000::measure()
arb.y_integral = aval_integrated(1);
arb.z_integral = aval_integrated(2);
arb.scaling = _accel_range_scale;
arb.range_m_s2 = _accel_range_m_s2;
if (is_icm_device()) { // if it is an ICM20608
_last_temperature = (report.temp) / 326.8f + 25.0f;
@@ -2007,7 +2005,6 @@ MPU6000::measure()
_last_temperature = (report.temp) / 361.0f + 35.0f;
}
arb.temperature_raw = report.temp;
arb.temperature = _last_temperature;
/* return device ID */
@@ -2041,9 +2038,7 @@ MPU6000::measure()
grb.z_integral = gval_integrated(2);
grb.scaling = _gyro_range_scale;
grb.range_rad_s = _gyro_range_rad_s;
grb.temperature_raw = report.temp;
grb.temperature = _last_temperature;
/* return device ID */