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INS: fixed raw accel offset for APM1

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we now get reasonable offset values
This commit is contained in:
Andrew Tridgell 2012-11-20 18:26:03 +11:00
parent 3776e6108f
commit 152c12c283
1 changed files with 1 additions and 1 deletions
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libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
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@ -23,7 +23,7 @@ const float AP_InertialSensor_Oilpan::_adc_constraint = 900;
// Oilpan accelerometer scaling & offsets
#define OILPAN_ACCEL_SCALE_1G (GRAVITY * 2.0 / (2465.0 - 1617.0))
#define OILPAN_RAW_ACCEL_OFFSET ((2465.0 - 1617.0) / 2)
#define OILPAN_RAW_ACCEL_OFFSET ((2465.0 + 1617.0) * 0.5)
#define OILPAN_RAW_GYRO_OFFSET 1658.0
#define ToRad(x) (x*0.01745329252) // *pi/180