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fix bmi088: set correct accel scale

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This affected the clipping limit, which was set too low
This commit is contained in:
Beat Küng
2021-04-27 14:43:19 +02:00
committed by Daniel Agar
parent 171c26373b
commit 1a89f165fd
2 changed files with 8 additions and 8 deletions
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src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp
+4 -4
View File
@@ -278,22 +278,22 @@ void BMI088_Accelerometer::ConfigureAccel()
switch (ACC_RANGE) { switch (ACC_RANGE) {
case acc_range_3g: case acc_range_3g:
_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f); _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; break;
case acc_range_6g: case acc_range_6g:
_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f); _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; break;
case acc_range_12g: case acc_range_12g:
_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f); _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; break;
case acc_range_24g: case acc_range_24g:
_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f); _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; break;
} }
} }
src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp
+4 -4
View File
@@ -206,22 +206,22 @@ void BMI088_Accelerometer::ConfigureAccel()
switch (ACC_RANGE) { switch (ACC_RANGE) {
case acc_range_3g: case acc_range_3g:
_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f); _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; break;
case acc_range_6g: case acc_range_6g:
_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f); _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; break;
case acc_range_12g: case acc_range_12g:
_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f); _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; break;
case acc_range_24g: case acc_range_24g:
_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f); _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; break;
} }
} }