From 1a89f165fdead9fd4ed0f9b6cf845db457de0480 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Tue, 27 Apr 2021 14:43:19 +0200 Subject: [PATCH] fix bmi088: set correct accel scale This affected the clipping limit, which was set too low --- src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp | 8 ++++---- .../imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp | 8 ++++---- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp b/src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp index f8d900eb57..9c9697c571 100644 --- a/src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp +++ b/src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp @@ -278,22 +278,22 @@ void BMI088_Accelerometer::ConfigureAccel() switch (ACC_RANGE) { case acc_range_3g: _px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f); - _px4_accel.set_range(3.f); + _px4_accel.set_range(3.f * CONSTANTS_ONE_G); break; case acc_range_6g: _px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f); - _px4_accel.set_range(6.f); + _px4_accel.set_range(6.f * CONSTANTS_ONE_G); break; case acc_range_12g: _px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f); - _px4_accel.set_range(12.f); + _px4_accel.set_range(12.f * CONSTANTS_ONE_G); break; case acc_range_24g: _px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f); - _px4_accel.set_range(24.f); + _px4_accel.set_range(24.f * CONSTANTS_ONE_G); break; } } diff --git a/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp b/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp index 3f213a66dd..e7d00b354f 100644 --- a/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp +++ b/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp @@ -206,22 +206,22 @@ void BMI088_Accelerometer::ConfigureAccel() switch (ACC_RANGE) { case acc_range_3g: _px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f); - _px4_accel.set_range(3.f); + _px4_accel.set_range(3.f * CONSTANTS_ONE_G); break; case acc_range_6g: _px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f); - _px4_accel.set_range(6.f); + _px4_accel.set_range(6.f * CONSTANTS_ONE_G); break; case acc_range_12g: _px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f); - _px4_accel.set_range(12.f); + _px4_accel.set_range(12.f * CONSTANTS_ONE_G); break; case acc_range_24g: _px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f); - _px4_accel.set_range(24.f); + _px4_accel.set_range(24.f * CONSTANTS_ONE_G); break; } }