From 2b285089e9e06ddcdd0b53f097458ba2e1173d6d Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 17 Feb 2019 14:30:07 +1100 Subject: [PATCH] AP_InertialSensor: widen allowable temp gap on invensense IMUs some sensors have more temperature noise --- libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp index ba7b3a8e91..aee7d4d8f6 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp @@ -625,7 +625,7 @@ bool AP_InertialSensor_Invensense::_check_raw_temp(int16_t t2) if (_block_read(MPUREG_TEMP_OUT_H, trx, 2)) { _raw_temp = int16_val(trx, 0); } - return (abs(t2 - _raw_temp) < 400); + return (abs(t2 - _raw_temp) < 800); } bool AP_InertialSensor_Invensense::_block_read(uint8_t reg, uint8_t *buf,