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mpu6000: show temperature in "mpu6000 info"

This commit is contained in:
Andrew Tridgell 2015-03-17 13:25:27 +11:00
parent 374c50cab8
commit 9442fc13e4
1 changed files with 10 additions and 3 deletions
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13
src/drivers/mpu6000/mpu6000.cpp
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@ -284,6 +284,9 @@ private:
// self test
volatile bool _in_factory_test;
// last temperature reading for print_info()
float _last_temperature;
/**
* Start automatic measurement.
*/
@ -518,7 +521,8 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
_gyro_filter_z(MPU6000_GYRO_DEFAULT_RATE, MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
_rotation(rotation),
_checked_next(0),
_in_factory_test(false)
_in_factory_test(false),
_last_temperature(0)
{
// disable debug() calls
_debug_enabled = false;
@ -1729,8 +1733,10 @@ MPU6000::measure()
arb.scaling = _accel_range_scale;
arb.range_m_s2 = _accel_range_m_s2;
_last_temperature = (report.temp) / 361.0f + 35.0f;
arb.temperature_raw = report.temp;
arb.temperature = (report.temp) / 361.0f + 35.0f;
arb.temperature = _last_temperature;
grb.x_raw = report.gyro_x;
grb.y_raw = report.gyro_y;
@ -1755,7 +1761,7 @@ MPU6000::measure()
grb.range_rad_s = _gyro_range_rad_s;
grb.temperature_raw = report.temp;
grb.temperature = (report.temp) / 361.0f + 35.0f;
grb.temperature = _last_temperature;
_accel_reports->force(&arb);
_gyro_reports->force(&grb);
@ -1803,6 +1809,7 @@ MPU6000::print_info()
(unsigned)_checked_values[i]);
}
}
::printf("temperature: %.1f\n", _last_temperature);
}
void