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AP_InertialSensor: modify LSM303D settings to match PX4 driver

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this allows existing accel calibration to be used
This commit is contained in:
Andrew Tridgell 2016-11-08 21:14:12 +11:00
parent 875fa60452
commit fde80a9408
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
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@ -620,7 +620,7 @@ void AP_InertialSensor_LSM9DS0::_accel_init()
hal.scheduler->delay(1);
_register_write_xm(CTRL_REG1_XM,
CTRL_REG1_XM_AODR_800Hz |
CTRL_REG1_XM_AODR_1600Hz |
CTRL_REG1_XM_BDU |
CTRL_REG1_XM_AZEN |
CTRL_REG1_XM_AYEN |
@ -628,7 +628,7 @@ void AP_InertialSensor_LSM9DS0::_accel_init()
hal.scheduler->delay(1);
_register_write_xm(CTRL_REG2_XM,
CTRL_REG2_XM_ABW_50Hz |
CTRL_REG2_XM_ABW_194Hz |
CTRL_REG2_XM_AFS_16G);
_set_accel_scale(A_SCALE_16G);
hal.scheduler->delay(1);