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Default Aspirin 2.0 Gain

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This commit is contained in:
Christophe De Wagter
2012-05-04 18:40:48 +02:00
parent 6057cee4ed
commit 4673e1e948
1 changed files with 8 additions and 8 deletions
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sw/airborne/subsystems/imu/imu_aspirin2.h
+8 -8
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@@ -71,18 +71,18 @@
/** default accel sensitivy from the datasheet
* MPU60X0 has 2048 LSB/g
* fixed point sens: 9.81 [m/s^2] / 2048 [LSB/g] * 2^INT32_ACCEL_FRAC
* sens = 9.81 / 2048 * 1024 = 4.905
* fixed point sens: 9.81 [m/s^2] / 1024 [LSB/g] * 2^INT32_ACCEL_FRAC
* sens = 9.81 / 1024 * 1024 = 9.81
*/
#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
#define IMU_ACCEL_X_SENS 4.905
#define IMU_ACCEL_X_SENS_NUM 4905
#define IMU_ACCEL_X_SENS 9.81
#define IMU_ACCEL_X_SENS_NUM 9810
#define IMU_ACCEL_X_SENS_DEN 1000
#define IMU_ACCEL_Y_SENS 4.905
#define IMU_ACCEL_Y_SENS_NUM 4905
#define IMU_ACCEL_Y_SENS 9.81
#define IMU_ACCEL_Y_SENS_NUM 9810
#define IMU_ACCEL_Y_SENS_DEN 1000
#define IMU_ACCEL_Z_SENS 4.905
#define IMU_ACCEL_Z_SENS_NUM 4905
#define IMU_ACCEL_Z_SENS 9.81
#define IMU_ACCEL_Z_SENS_NUM 9810
#define IMU_ACCEL_Z_SENS_DEN 1000
#endif
#if !defined IMU_ACCEL_X_NEUTRAL & !defined IMU_ACCEL_Y_NEUTRAL & !defined IMU_ACCEL_Z_NEUTRAL