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adis16497: fix TEMP_OUT conversion according to the datasheet

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Thijs Raymakers
2019-04-24 20:51:58 +02:00
committed by Lorenz Meier
parent 89bc68e12b
commit 33fe69a3e8
1 changed files with 2 additions and 2 deletions
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src/drivers/imu/adis16497/ADIS16497.cpp
+2 -2
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@@ -613,7 +613,7 @@ ADIS16497::publish_accel(const hrt_abstime &t, const ADISReport &report)
arb.y_integral = aval_integrated(1);
arb.z_integral = aval_integrated(2);
arb.temperature = report.TEMP_OUT * 0.0125f - 25.0f; // 1 LSB = 0.0125°C, 0x0000 at 25°C
arb.temperature = (int16_t(report.TEMP_OUT) * 0.0125f) + 25.0f; // 1 LSB = 0.0125°C, 0x0000 at 25°C
orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
}
@@ -662,7 +662,7 @@ ADIS16497::publish_gyro(const hrt_abstime &t, const ADISReport &report)
grb.y_integral = gval_integrated(1);
grb.z_integral = gval_integrated(2);
grb.temperature = report.TEMP_OUT * 0.0125f - 25.0f; // 1 LSB = 0.0125°C, 0x0000 at 25°C
grb.temperature = (int16_t(report.TEMP_OUT) * 0.0125f) + 25.0f; // 1 LSB = 0.0125°C, 0x0000 at 25°C
orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
}