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Fixed axis in L3GD20 driver

This commit is contained in:
Julian Oes 2013-04-08 23:29:24 -07:00
parent f562a27976
commit 8c70f4412d
1 changed files with 4 additions and 3 deletions
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7
apps/drivers/l3gd20/l3gd20.cpp
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@ -684,9 +684,10 @@ L3GD20::measure()
* 74 from all measurements centers them around zero. * 74 from all measurements centers them around zero.
*/ */
report->timestamp = hrt_absolute_time(); report->timestamp = hrt_absolute_time();
/* XXX adjust for sensor alignment to board here */
report->x_raw = raw_report.x; /* swap x and y and negate y */
report->y_raw = raw_report.y; report->x_raw = raw_report.y;
report->y_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
report->z_raw = raw_report.z; report->z_raw = raw_report.z;
report->x = ((report->x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale; report->x = ((report->x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;