From e8726865ab8e2effe3749074a0764048b7f42462 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 7 Mar 2018 19:09:15 +1100 Subject: [PATCH] AP_InertialSensor: Correct scaling of batch data --- libraries/AP_InertialSensor/AP_InertialSensor.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h index be183db744..65e3eb51c3 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor.h +++ b/libraries/AP_InertialSensor/AP_InertialSensor.h @@ -324,8 +324,8 @@ public: uint32_t last_sent_ms; // all samples are multiplied by this - static const uint16_t multiplier_accel = INT16_MAX/radians(2000); - static const uint16_t multiplier_gyro = INT16_MAX/(16*GRAVITY_MSS); + static const uint16_t multiplier_accel = INT16_MAX/(16*GRAVITY_MSS); + static const uint16_t multiplier_gyro = INT16_MAX/radians(2000); uint16_t multiplier = multiplier_accel; // push blocks to DataFlash at regular intervals. each