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AP_InertialSensor: Fix BMI085 accel scaling

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Original BMI088 has 24G range so it was hardcoded for *scale* within
read_fifo_accel. Added a class variable accel_range which is assigned
the correct value when the sensor type is received (16.0 or 24.0).
This commit is contained in:
Leonardo Garcia 2022-10-13 16:50:39 -07:00 committed by Randy Mackay
parent 19d444bb3a
commit 2c6ccb3e05
2 changed files with 6 additions and 3 deletions
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8
libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp
View File

@ -155,7 +155,7 @@ static const struct {
uint8_t value; uint8_t value;
} accel_config[] = { } accel_config[] = {
{ REGA_CONF, 0xAC }, { REGA_CONF, 0xAC },
// setup 24g range // setup 24g range (16g for BMI085)
{ REGA_RANGE, 0x03 }, { REGA_RANGE, 0x03 },
// disable low-power mode // disable low-power mode
{ REGA_PWR_CONF, 0 }, { REGA_PWR_CONF, 0 },
@ -207,10 +207,12 @@ bool AP_InertialSensor_BMI088::accel_init()
switch (v) { switch (v) {
case 0x1E: case 0x1E:
_accel_devtype = DEVTYPE_INS_BMI088; _accel_devtype = DEVTYPE_INS_BMI088;
accel_range = 24.0;
hal.console->printf("BMI088: Found device\n"); hal.console->printf("BMI088: Found device\n");
break; break;
case 0x1F: case 0x1F:
_accel_devtype = DEVTYPE_INS_BMI085; _accel_devtype = DEVTYPE_INS_BMI085;
accel_range = 16.0;
hal.console->printf("BMI085: Found device\n"); hal.console->printf("BMI085: Found device\n");
break; break;
default: default:
@ -317,8 +319,8 @@ void AP_InertialSensor_BMI088::read_fifo_accel(void)
_inc_accel_error_count(accel_instance); _inc_accel_error_count(accel_instance);
return; return;
} }
// assume configured for 24g range // use new accel_range depending on sensor type
const float scale = (1.0/32768.0) * GRAVITY_MSS * 24.0; const float scale = (1.0/32768.0) * GRAVITY_MSS * accel_range;
const uint8_t *p = &data[0]; const uint8_t *p = &data[0];
while (fifo_length >= 7) { while (fifo_length >= 7) {
/* /*

1
libraries/AP_InertialSensor/AP_InertialSensor_BMI088.h
View File

@ -82,6 +82,7 @@ private:
enum Rotation rotation; enum Rotation rotation;
uint8_t temperature_counter; uint8_t temperature_counter;
enum DevTypes _accel_devtype; enum DevTypes _accel_devtype;
float accel_range;
bool done_accel_config; bool done_accel_config;
uint32_t accel_config_count; uint32_t accel_config_count;