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stop manually defining physical constants

This commit is contained in:
Daniel Agar 2018-04-10 13:50:57 -04:00 committed by Lorenz Meier
parent 7538ea44e3
commit d75fd72c02
27 changed files with 66 additions and 84 deletions
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3
src/drivers/batt_smbus/batt_smbus.cpp
View File

@ -44,6 +44,7 @@
#include <float.h>
#include <stdio.h>
#include <string.h>
#include <ecl/geo/geo.h>
#include <drivers/device/i2c.h>
#include <drivers/device/ringbuffer.h>
@ -555,7 +556,7 @@ BATT_SMBUS::cycle()
// read battery temperature and covert to Celsius
if (read_reg(BATT_SMBUS_TEMP, tmp) == OK) {
new_report.temperature = (float)(((float)tmp / 10.0f) - 273.15f);
new_report.temperature = (float)(((float)tmp / 10.0f) + CONSTANTS_ABSOLUTE_NULL_CELSIUS);
}
//Check if remaining % is out of range

10
src/drivers/imu/adis16448/adis16448.cpp
View File

@ -44,7 +44,7 @@
*/
#include <px4_config.h>
#include <ecl/geo/geo.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
@ -171,8 +171,6 @@
#define ADIS16448_ACCEL_MAX_OUTPUT_RATE 1221
#define ADIS16448_GYRO_MAX_OUTPUT_RATE 1221
#define ADIS16448_ONE_G 9.80665f
#define FW_FILTER false
#define SPI_BUS_SPEED 1000000
@ -733,8 +731,8 @@ int ADIS16448::reset()
/* Set IMU sample rate */
_set_sample_rate(_sample_rate);
_accel_range_scale = ADIS16448_ONE_G * ACCELINITIALSENSITIVITY;
_accel_range_m_s2 = ADIS16448_ONE_G * ACCELDYNAMICRANGE;
_accel_range_scale = CONSTANTS_ONE_G * ACCELINITIALSENSITIVITY;
_accel_range_m_s2 = CONSTANTS_ONE_G * ACCELDYNAMICRANGE;
_mag_range_scale = MAGINITIALSENSITIVITY;
_mag_range_mgauss = MAGDYNAMICRANGE;
@ -1140,7 +1138,7 @@ ADIS16448::ioctl(struct file *filp, int cmd, unsigned long arg)
return -EINVAL;
case ACCELIOCGRANGE:
return (unsigned long)((_accel_range_m_s2) / ADIS16448_ONE_G + 0.5f);
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCSELFTEST:
return accel_self_test();

3
src/drivers/imu/bma180/bma180.cpp
View File

@ -38,6 +38,7 @@
#include <px4_config.h>
#include <px4_defines.h>
#include <ecl/geo/geo.h>
#include <sys/types.h>
#include <stdint.h>
@ -575,7 +576,7 @@ BMA180::set_range(unsigned max_g)
}
/* set new range scaling factor */
_accel_range_m_s2 = _current_range * 9.80665f;
_accel_range_m_s2 = _current_range * CONSTANTS_ONE_G;
_accel_range_scale = _accel_range_m_s2 / 8192.0f;
/* enable writing to chip config */

2
src/drivers/imu/bmi055/bmi055.hpp
View File

@ -239,8 +239,6 @@
#define BMI055_GYRO_DEFAULT_DRIVER_FILTER_FREQ 50
#define BMI055_ONE_G 9.80665f
#define BMI055_BUS_SPEED 10*1000*1000
#define BMI055_TIMER_REDUCTION 200

8
src/drivers/imu/bmi055/bmi055_accel.cpp
View File

@ -1,5 +1,5 @@
#include "bmi055.hpp"
#include <ecl/geo/geo.h>
/*
list of registers that will be checked in check_registers(). Note
@ -463,7 +463,7 @@ BMI055_accel::ioctl(struct file *filp, int cmd, unsigned long arg)
return set_accel_range(arg);
case ACCELIOCGRANGE:
return (unsigned long)((_accel_range_m_s2) / BMI055_ONE_G + 0.5f);
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCSELFTEST:
return accel_self_test();
@ -535,8 +535,8 @@ BMI055_accel::set_accel_range(unsigned max_g)
return -EINVAL;
}
_accel_range_scale = (BMI055_ONE_G / lsb_per_g);
_accel_range_m_s2 = max_accel_g * BMI055_ONE_G;
_accel_range_scale = (CONSTANTS_ONE_G / lsb_per_g);
_accel_range_m_s2 = max_accel_g * CONSTANTS_ONE_G;
modify_reg(BMI055_ACC_RANGE, clearbits, setbits);

8
src/drivers/imu/bmi160/bmi160.cpp
View File

@ -1,6 +1,6 @@
#include "bmi160.hpp"
#include "bmi160_gyro.hpp"
#include <ecl/geo/geo.h>
/*
list of registers that will be checked in check_registers(). Note
@ -743,7 +743,7 @@ BMI160::ioctl(struct file *filp, int cmd, unsigned long arg)
return set_accel_range(arg);
case ACCELIOCGRANGE:
return (unsigned long)((_accel_range_m_s2) / BMI160_ONE_G + 0.5f);
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCSELFTEST:
return accel_self_test();
@ -905,8 +905,8 @@ BMI160::set_accel_range(unsigned max_g)
return -EINVAL;
}
_accel_range_scale = (BMI160_ONE_G / lsb_per_g);
_accel_range_m_s2 = max_accel_g * BMI160_ONE_G;
_accel_range_scale = (CONSTANTS_ONE_G / lsb_per_g);
_accel_range_m_s2 = max_accel_g * CONSTANTS_ONE_G;
modify_reg(BMIREG_ACC_RANGE, clearbits, setbits);

2
src/drivers/imu/bmi160/bmi160.hpp
View File

@ -238,8 +238,6 @@
#define BMI160_GYRO_DEFAULT_ONCHIP_FILTER_FREQ 254.6f
#define BMI160_GYRO_DEFAULT_DRIVER_FILTER_FREQ 50
#define BMI160_ONE_G 9.80665f
#define BMI160_BUS_SPEED 10*1000*1000
#define BMI160_TIMER_REDUCTION 200

8
src/drivers/imu/fxos8701cq/fxos8701cq.cpp
View File

@ -39,6 +39,7 @@
#include <px4_config.h>
#include <px4_defines.h>
#include <ecl/geo/geo.h>
#include <sys/types.h>
#include <sys/stat.h>
@ -137,7 +138,6 @@
#define FXOS8701C_MAG_DEFAULT_RANGE_GA 12 /* It is fixed at 12 G */
#define FXOS8701C_MAG_DEFAULT_RATE 100
#define FXOS8701C_ONE_G 9.80665f
/*
we set the timer interrupt to run a bit faster than the desired
@ -877,7 +877,7 @@ FXOS8701CQ::ioctl(struct file *filp, int cmd, unsigned long arg)
case ACCELIOCGRANGE:
/* convert to m/s^2 and return rounded in G */
return (unsigned long)((_accel_range_m_s2) / FXOS8701C_ONE_G + 0.5f);
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCGSCALE:
/* copy scale out */
@ -1135,8 +1135,8 @@ FXOS8701CQ::accel_set_range(unsigned max_g)
max_accel_g = 2;
}
_accel_range_scale = (FXOS8701C_ONE_G / lsb_per_g);
_accel_range_m_s2 = max_accel_g * FXOS8701C_ONE_G;
_accel_range_scale = (CONSTANTS_ONE_G / lsb_per_g);
_accel_range_m_s2 = max_accel_g * CONSTANTS_ONE_G;
modify_reg(FXOS8701CQ_XYZ_DATA_CFG, XYZ_DATA_CFG_FS_MASK, setbits);

17
src/drivers/imu/lsm303d/lsm303d.cpp
View File

@ -38,6 +38,7 @@
#include <px4_config.h>
#include <px4_defines.h>
#include <ecl/geo/geo.h>
#include <sys/types.h>
#include <sys/stat.h>
@ -206,8 +207,6 @@
#define LSM303D_MAG_DEFAULT_RANGE_GA 2
#define LSM303D_MAG_DEFAULT_RATE 100
#define LSM303D_ONE_G 9.80665f
/*
we set the timer interrupt to run a bit faster than the desired
sample rate and then throw away duplicates using the data ready bit.
@ -946,7 +945,7 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
case ACCELIOCGRANGE:
/* convert to m/s^2 and return rounded in G */
return (unsigned long)((_accel_range_m_s2) / LSM303D_ONE_G + 0.5f);
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCGSCALE:
/* copy scale out */
@ -1178,27 +1177,27 @@ LSM303D::accel_set_range(unsigned max_g)
}
if (max_g <= 2) {
_accel_range_m_s2 = 2.0f * LSM303D_ONE_G;
_accel_range_m_s2 = 2.0f * CONSTANTS_ONE_G;
setbits |= REG2_FULL_SCALE_2G_A;
new_scale_g_digit = 0.061e-3f;
} else if (max_g <= 4) {
_accel_range_m_s2 = 4.0f * LSM303D_ONE_G;
_accel_range_m_s2 = 4.0f * CONSTANTS_ONE_G;
setbits |= REG2_FULL_SCALE_4G_A;
new_scale_g_digit = 0.122e-3f;
} else if (max_g <= 6) {
_accel_range_m_s2 = 6.0f * LSM303D_ONE_G;
_accel_range_m_s2 = 6.0f * CONSTANTS_ONE_G;
setbits |= REG2_FULL_SCALE_6G_A;
new_scale_g_digit = 0.183e-3f;
} else if (max_g <= 8) {
_accel_range_m_s2 = 8.0f * LSM303D_ONE_G;
_accel_range_m_s2 = 8.0f * CONSTANTS_ONE_G;
setbits |= REG2_FULL_SCALE_8G_A;
new_scale_g_digit = 0.244e-3f;
} else if (max_g <= 16) {
_accel_range_m_s2 = 16.0f * LSM303D_ONE_G;
_accel_range_m_s2 = 16.0f * CONSTANTS_ONE_G;
setbits |= REG2_FULL_SCALE_16G_A;
new_scale_g_digit = 0.732e-3f;
@ -1206,7 +1205,7 @@ LSM303D::accel_set_range(unsigned max_g)
return -EINVAL;
}
_accel_range_scale = new_scale_g_digit * LSM303D_ONE_G;
_accel_range_scale = new_scale_g_digit * CONSTANTS_ONE_G;
modify_reg(ADDR_CTRL_REG2, clearbits, setbits);

11
src/drivers/imu/mpu6000/mpu6000.cpp
View File

@ -56,6 +56,7 @@
*/
#include <px4_config.h>
#include <ecl/geo/geo.h>
#include <sys/types.h>
#include <stdint.h>
@ -1505,7 +1506,7 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
return set_accel_range(arg);
case ACCELIOCGRANGE:
return (unsigned long)((_accel_range_m_s2) / MPU6000_ONE_G + 0.5f);
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCSELFTEST:
return accel_self_test();
@ -1645,8 +1646,8 @@ MPU6000::set_accel_range(unsigned max_g_in)
case MPU6000_REV_C4:
case MPU6000_REV_C5:
write_checked_reg(MPUREG_ACCEL_CONFIG, 1 << 3);
_accel_range_scale = (MPU6000_ONE_G / 4096.0f);
_accel_range_m_s2 = 8.0f * MPU6000_ONE_G;
_accel_range_scale = (CONSTANTS_ONE_G / 4096.0f);
_accel_range_m_s2 = 8.0f * CONSTANTS_ONE_G;
return OK;
}
}
@ -1677,8 +1678,8 @@ MPU6000::set_accel_range(unsigned max_g_in)
}
write_checked_reg(MPUREG_ACCEL_CONFIG, afs_sel << 3);
_accel_range_scale = (MPU6000_ONE_G / lsb_per_g);
_accel_range_m_s2 = max_accel_g * MPU6000_ONE_G;
_accel_range_scale = (CONSTANTS_ONE_G / lsb_per_g);
_accel_range_m_s2 = max_accel_g * CONSTANTS_ONE_G;
return OK;
}

2
src/drivers/imu/mpu6000/mpu6000.h
View File

@ -212,8 +212,6 @@
#define MPU6000_DEFAULT_ONCHIP_FILTER_FREQ 42
#define MPU6000_ONE_G 9.80665f
#ifdef PX4_SPI_BUS_EXT
#define EXTERNAL_BUS PX4_SPI_BUS_EXT
#else

7
src/drivers/imu/mpu9250/mpu9250.cpp
View File

@ -42,6 +42,7 @@
*/
#include <px4_config.h>
#include <ecl/geo/geo.h>
#include <sys/types.h>
#include <stdint.h>
@ -918,7 +919,7 @@ MPU9250::ioctl(struct file *filp, int cmd, unsigned long arg)
return set_accel_range(arg);
case ACCELIOCGRANGE:
return (unsigned long)((_accel_range_m_s2) / MPU9250_ONE_G + 0.5f);
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCSELFTEST:
return accel_self_test();
@ -1086,8 +1087,8 @@ MPU9250::set_accel_range(unsigned max_g_in)
}
write_checked_reg(MPUREG_ACCEL_CONFIG, afs_sel << 3);
_accel_range_scale = (MPU9250_ONE_G / lsb_per_g);
_accel_range_m_s2 = max_accel_g * MPU9250_ONE_G;
_accel_range_scale = (CONSTANTS_ONE_G / lsb_per_g);
_accel_range_m_s2 = max_accel_g * CONSTANTS_ONE_G;
return OK;
}

2
src/drivers/imu/mpu9250/mpu9250.h
View File

@ -190,8 +190,6 @@
#define MPU9250_DEFAULT_ONCHIP_FILTER_FREQ 41
#define MPU9250_ONE_G 9.80665f
#define MPUIOCGIS_I2C (unsigned)(DEVIOCGDEVICEID+100)

6
src/drivers/telemetry/frsky_telemetry/CMakeLists.txt
View File

@ -36,9 +36,9 @@ px4_add_module(
STACK_MAIN 1200
COMPILE_FLAGS
SRCS
frsky_data.c
sPort_data.c
frsky_telemetry.c
frsky_data.cpp
sPort_data.cpp
frsky_telemetry.cpp
DEPENDS
platforms__common
)

2
src/drivers/telemetry/frsky_telemetry/frsky_data.c → src/drivers/telemetry/frsky_telemetry/frsky_data.cpp
View File

@ -47,9 +47,9 @@
#include <stdio.h>
#include <string.h>
#include <stdbool.h>
#include <arch/math.h>
#include <lib/ecl/geo/geo.h>
#include <stdbool.h>
#include <math.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/sensor_combined.h>

2
src/drivers/telemetry/frsky_telemetry/frsky_telemetry.c → src/drivers/telemetry/frsky_telemetry/frsky_telemetry.cpp
View File

@ -79,8 +79,8 @@ static int sPort_open_uart(const char *uart_name, struct termios *uart_config, s
static int set_uart_speed(int uart, struct termios *uart_config, speed_t speed);
static void usage(void);
static int frsky_telemetry_thread_main(int argc, char *argv[]);
__EXPORT int frsky_telemetry_main(int argc, char *argv[]);
extern "C" __EXPORT int frsky_telemetry_main(int argc, char *argv[]);
uint16_t get_telemetry_flight_mode(int px4_flight_mode)
{

3
src/drivers/telemetry/frsky_telemetry/sPort_data.c → src/drivers/telemetry/frsky_telemetry/sPort_data.cpp
View File

@ -47,7 +47,8 @@
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <arch/math.h>
#include <math.h>
#include <lib/ecl/geo/geo.h>
#include <uORB/topics/battery_status.h>

2
src/lib/ecl

@ -1 +1 @@
Subproject commit 02e319431b948f660f8548707849489d6c822fad
Subproject commit 8678cc42ba6c87b3ae0724af2becb62b71bf6683

2
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
View File

@ -1918,7 +1918,7 @@ FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float airspee
if (orb_copy(ORB_ID(sensor_baro), _sensor_baro_sub, &baro) == PX4_OK) {
if (PX4_ISFINITE(baro.pressure) && PX4_ISFINITE(_parameters.throttle_alt_scale)) {
// scale throttle as a function of sqrt(p0/p) (~ EAS -> TAS at low speeds and altitudes ignoring temperature)
const float eas2tas = sqrtf(MSL_PRESSURE_MILLIBAR / baro.pressure);
const float eas2tas = sqrtf(CONSTANTS_STD_PRESSURE_MBAR / baro.pressure);
const float scale = constrain((eas2tas - 1.0f) * _parameters.throttle_alt_scale + 1.0f, 1.0f, 2.0f);
throttle_max = constrain(throttle_max * scale, throttle_min, 1.0f);

2
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
View File

@ -103,8 +103,6 @@ static constexpr float MANUAL_THROTTLE_CLIMBOUT_THRESH =
0.85f; ///< a throttle / pitch input above this value leads to the system switching to climbout mode
static constexpr float ALTHOLD_EPV_RESET_THRESH = 5.0f;
static constexpr float MSL_PRESSURE_MILLIBAR = 1013.25f; ///< standard atmospheric pressure in millibar
using math::constrain;
using math::max;
using math::min;

2
src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
View File

@ -775,7 +775,7 @@ void BlockLocalPositionEstimator::predict()
Vector3f a(_sub_sensor.get().accelerometer_m_s2);
// note, bias is removed in dynamics function
_u = _R_att * a;
_u(U_az) += 9.81f; // add g
_u(U_az) += CONSTANTS_ONE_G; // add g
// update state space based on new states
updateSSStates();

8
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -90,8 +90,6 @@
#include "mavlink_main.h"
#include "mavlink_command_sender.h"
static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f;
MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_mavlink(parent),
_mission_manager(nullptr),
@ -1922,9 +1920,9 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
struct accel_report accel = {};
accel.timestamp = timestamp;
accel.x_raw = imu.xacc / mg2ms2;
accel.y_raw = imu.yacc / mg2ms2;
accel.z_raw = imu.zacc / mg2ms2;
accel.x_raw = imu.xacc / (CONSTANTS_ONE_G / 1000.0f);
accel.y_raw = imu.yacc / (CONSTANTS_ONE_G / 1000.0f);
accel.z_raw = imu.zacc / (CONSTANTS_ONE_G / 1000.0f);
accel.x = imu.xacc;
accel.y = imu.yacc;
accel.z = imu.zacc;

15
src/modules/simulator/simulator_mavlink.cpp
View File

@ -52,11 +52,6 @@ extern "C" __EXPORT hrt_abstime hrt_reset(void);
#define SEND_INTERVAL 20
#define UDP_PORT 14560
#define PRESS_GROUND 101325.0f
#define DENSITY 1.2041f
static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f;
#ifdef ENABLE_UART_RC_INPUT
#ifndef B460800
#define B460800 460800
@ -632,12 +627,12 @@ void Simulator::initializeSensorData()
{
// write sensor data to memory so that drivers can copy data from there
RawMPUData mpu = {};
mpu.accel_z = 9.81f;
mpu.accel_z = CONSTANTS_ONE_G;
write_MPU_data(&mpu);
RawAccelData accel = {};
accel.z = 9.81f;
accel.z = CONSTANTS_ONE_G;
write_accel_data(&accel);
@ -1036,9 +1031,9 @@ int Simulator::publish_sensor_topics(mavlink_hil_sensor_t *imu)
struct accel_report accel = {};
accel.timestamp = timestamp;
accel.x_raw = imu->xacc / mg2ms2;
accel.y_raw = imu->yacc / mg2ms2;
accel.z_raw = imu->zacc / mg2ms2;
accel.x_raw = imu->xacc / (CONSTANTS_ONE_G / 1000.0f);
accel.y_raw = imu->yacc / (CONSTANTS_ONE_G / 1000.0f);
accel.z_raw = imu->zacc / (CONSTANTS_ONE_G / 1000.0f);
accel.x = imu->xacc;
accel.y = imu->yacc;
accel.z = imu->zacc;

2
src/modules/systemlib/CMakeLists.txt
View File

@ -32,7 +32,7 @@
############################################################################
set(SRCS
airspeed.c
airspeed.cpp
battery.cpp
board_serial.c
bson/tinybson.c

2
src/modules/systemlib/airspeed.c → src/modules/systemlib/airspeed.cpp
View File

@ -236,7 +236,7 @@ float calc_true_airspeed(float total_pressure, float static_pressure, float temp
{
float density = get_air_density(static_pressure, temperature_celsius);
if (density < 0.0001f || !isfinite(density)) {
if (density < 0.0001f || !PX4_ISFINITE(density)) {
density = CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C;
}

5
src/platforms/posix/drivers/accelsim/accelsim.cpp
View File

@ -71,7 +71,6 @@
#define ACCELSIM_ACCEL_DEFAULT_RATE 250
#define ACCELSIM_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
#define ACCELSIM_ONE_G 9.80665f
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
@ -595,7 +594,7 @@ ACCELSIM::devIOCTL(unsigned long cmd, unsigned long arg)
case ACCELIOCGRANGE:
/* convert to m/s^2 and return rounded in G */
return (unsigned long)((_accel_range_m_s2) / ACCELSIM_ONE_G + 0.5f);
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCGSCALE:
/* copy scale out */
@ -732,7 +731,7 @@ ACCELSIM::accel_set_range(unsigned max_g)
{
float new_scale_g_digit = 0.732e-3f;
_accel_range_scale = new_scale_g_digit * ACCELSIM_ONE_G;
_accel_range_scale = new_scale_g_digit * CONSTANTS_ONE_G;
return OK;
}

14
src/platforms/posix/drivers/gyrosim/gyrosim.cpp
View File

@ -103,8 +103,6 @@ using namespace DriverFramework;
#define GYROSIM_GYRO_DEFAULT_RATE 400
#define GYROSIM_ONE_G 9.80665f
#ifdef PX4_SPI_BUS_EXT
#define EXTERNAL_BUS PX4_SPI_BUS_EXT
#else
@ -819,7 +817,7 @@ GYROSIM::devIOCTL(unsigned long cmd, unsigned long arg)
return set_accel_range(arg);
case ACCELIOCGRANGE:
return (unsigned long)((_accel_range_m_s2) / GYROSIM_ONE_G + 0.5f);
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCSELFTEST:
return accel_self_test();
@ -920,8 +918,8 @@ GYROSIM::set_accel_range(unsigned max_g_in)
switch (_product) {
case GYROSIMES_REV_C4:
write_reg(MPUREG_ACCEL_CONFIG, 1 << 3);
_accel_range_scale = (GYROSIM_ONE_G / 4096.0f);
_accel_range_m_s2 = 8.0f * GYROSIM_ONE_G;
_accel_range_scale = (CONSTANTS_ONE_G / 4096.0f);
_accel_range_m_s2 = 8.0f * CONSTANTS_ONE_G;
return OK;
}
@ -951,8 +949,8 @@ GYROSIM::set_accel_range(unsigned max_g_in)
}
write_reg(MPUREG_ACCEL_CONFIG, afs_sel << 3);
_accel_range_scale = (GYROSIM_ONE_G / lsb_per_g);
_accel_range_m_s2 = max_accel_g * GYROSIM_ONE_G;
_accel_range_scale = (CONSTANTS_ONE_G / lsb_per_g);
_accel_range_m_s2 = max_accel_g * CONSTANTS_ONE_G;
return OK;
}
@ -1334,7 +1332,7 @@ test()
PX4_INFO("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
PX4_INFO("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
PX4_INFO("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
(double)(a_report.range_m_s2 / GYROSIM_ONE_G));
(double)(a_report.range_m_s2 / CONSTANTS_ONE_G));
/* do a simple demand read */
sz = h_gyro.read(&g_report, sizeof(g_report));