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stop manually defining physical constants

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This commit is contained in:
Daniel Agar
2018-04-19 07:24:58 +02:00
committed by Lorenz Meier
parent 7538ea44e3
commit d75fd72c02
27 changed files with 66 additions and 84 deletions
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src/drivers/imu/mpu6000/mpu6000.cpp
+6 -5
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@@ -56,6 +56,7 @@
*/
#include <px4_config.h>
#include <ecl/geo/geo.h>
#include <sys/types.h>
#include <stdint.h>
@@ -1505,7 +1506,7 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
return set_accel_range(arg);
case ACCELIOCGRANGE:
return (unsigned long)((_accel_range_m_s2) / MPU6000_ONE_G + 0.5f);
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCSELFTEST:
return accel_self_test();
@@ -1645,8 +1646,8 @@ MPU6000::set_accel_range(unsigned max_g_in)
case MPU6000_REV_C4:
case MPU6000_REV_C5:
write_checked_reg(MPUREG_ACCEL_CONFIG, 1 << 3);
_accel_range_scale = (MPU6000_ONE_G / 4096.0f);
_accel_range_m_s2 = 8.0f * MPU6000_ONE_G;
_accel_range_scale = (CONSTANTS_ONE_G / 4096.0f);
_accel_range_m_s2 = 8.0f * CONSTANTS_ONE_G;
return OK;
}
}
@@ -1677,8 +1678,8 @@ MPU6000::set_accel_range(unsigned max_g_in)
}
write_checked_reg(MPUREG_ACCEL_CONFIG, afs_sel << 3);
_accel_range_scale = (MPU6000_ONE_G / lsb_per_g);
_accel_range_m_s2 = max_accel_g * MPU6000_ONE_G;
_accel_range_scale = (CONSTANTS_ONE_G / lsb_per_g);
_accel_range_m_s2 = max_accel_g * CONSTANTS_ONE_G;
return OK;
}