fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 01:53:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Moved math library to library dir, improved sensor-level HIL, cleaned up geo / conversion libs

Browse Source
This commit is contained in:
Lorenz Meier
2013-08-21 18:13:01 +02:00
parent 309ea81460
commit fab110d21f
69 changed files with 216 additions and 171 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/mpu6000/mpu6000.cpp
+6 -4
View File
@@ -159,6 +159,8 @@
#define MPU6000_DEFAULT_ONCHIP_FILTER_FREQ 42
#define MPU6000_ONE_G 9.80665f
class MPU6000_gyro;
class MPU6000 : public device::SPI
@@ -543,8 +545,8 @@ void MPU6000::reset()
// Correct accel scale factors of 4096 LSB/g
// scale to m/s^2 ( 1g = 9.81 m/s^2)
_accel_range_scale = (CONSTANTS_ONE_G / 4096.0f);
_accel_range_m_s2 = 8.0f * CONSTANTS_ONE_G;
_accel_range_scale = (MPU6000_ONE_G / 4096.0f);
_accel_range_m_s2 = 8.0f * MPU6000_ONE_G;
usleep(1000);
@@ -906,7 +908,7 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
// _accel_range_m_s2 = 8.0f * 9.81f;
return -EINVAL;
case ACCELIOCGRANGE:
return (unsigned long)((_accel_range_m_s2)/CONSTANTS_ONE_G + 0.5f);
return (unsigned long)((_accel_range_m_s2)/MPU6000_ONE_G + 0.5f);
case ACCELIOCSELFTEST:
return accel_self_test();
@@ -1409,7 +1411,7 @@ test()
warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
(double)(a_report.range_m_s2 / CONSTANTS_ONE_G));
(double)(a_report.range_m_s2 / MPU6000_ONE_G));
/* do a simple demand read */
sz = read(fd_gyro, &g_report, sizeof(g_report));