Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-08 18:52:46 +08:00
Code Issues Actions 28 Packages Projects Releases Wiki Activity

MPU9250: Make check return values more discriminative

Browse Source
This commit is contained in:
Lorenz Meier
2016-01-31 14:53:40 +01:00
parent 1245b50ef5
commit 260b77dd78
1 changed files with 6 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/mpu9250/mpu9250.cpp
+6 -6
View File
@@ -913,27 +913,27 @@ MPU9250::accel_self_test()
/* inspect accel offsets */
if (fabsf(_accel_scale.x_offset) < 0.000001f) {
return 1;
return 2;
}
if (fabsf(_accel_scale.x_scale - 1.0f) > 0.4f || fabsf(_accel_scale.x_scale - 1.0f) < 0.000001f) {
return 1;
return 3;
}
if (fabsf(_accel_scale.y_offset) < 0.000001f) {
return 1;
return 4;
}
if (fabsf(_accel_scale.y_scale - 1.0f) > 0.4f || fabsf(_accel_scale.y_scale - 1.0f) < 0.000001f) {
return 1;
return 5;
}
if (fabsf(_accel_scale.z_offset) < 0.000001f) {
return 1;
return 6;
}
if (fabsf(_accel_scale.z_scale - 1.0f) > 0.4f || fabsf(_accel_scale.z_scale - 1.0f) < 0.000001f) {
return 1;
return 7;
}
return 0;