forked from Archive/PX4-Autopilot
fix bmi088: set correct accel scale
This affected the clipping limit, which was set too low
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parent
171c26373b
commit
1a89f165fd
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@ -278,22 +278,22 @@ void BMI088_Accelerometer::ConfigureAccel()
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switch (ACC_RANGE) {
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case acc_range_3g:
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_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f);
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_px4_accel.set_range(3.f);
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_px4_accel.set_range(3.f * CONSTANTS_ONE_G);
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break;
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case acc_range_6g:
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_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f);
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_px4_accel.set_range(6.f);
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_px4_accel.set_range(6.f * CONSTANTS_ONE_G);
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break;
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case acc_range_12g:
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_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f);
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_px4_accel.set_range(12.f);
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_px4_accel.set_range(12.f * CONSTANTS_ONE_G);
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break;
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case acc_range_24g:
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_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f);
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_px4_accel.set_range(24.f);
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_px4_accel.set_range(24.f * CONSTANTS_ONE_G);
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break;
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}
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}
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@ -206,22 +206,22 @@ void BMI088_Accelerometer::ConfigureAccel()
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switch (ACC_RANGE) {
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case acc_range_3g:
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_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f);
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_px4_accel.set_range(3.f);
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_px4_accel.set_range(3.f * CONSTANTS_ONE_G);
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break;
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case acc_range_6g:
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_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f);
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_px4_accel.set_range(6.f);
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_px4_accel.set_range(6.f * CONSTANTS_ONE_G);
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break;
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case acc_range_12g:
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_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f);
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_px4_accel.set_range(12.f);
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_px4_accel.set_range(12.f * CONSTANTS_ONE_G);
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break;
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case acc_range_24g:
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_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f);
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_px4_accel.set_range(24.f);
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_px4_accel.set_range(24.f * CONSTANTS_ONE_G);
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break;
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}
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}
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