LSM6DS3 fix gyro scale (#21040)
parent
476ee91845
commit
79a2f06760
|
@ -45,13 +45,13 @@ void LSM6DS3_Gyro::get_event(cereal::SensorEventData::Builder &event){
|
|||
int len = read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer));
|
||||
assert(len == sizeof(buffer));
|
||||
|
||||
float scale = 250.0f / (1 << 15);
|
||||
float scale = 8.75 / 1000.0;
|
||||
float x = DEG2RAD(read_16_bit(buffer[0], buffer[1]) * scale);
|
||||
float y = DEG2RAD(read_16_bit(buffer[2], buffer[3]) * scale);
|
||||
float z = DEG2RAD(read_16_bit(buffer[4], buffer[5]) * scale);
|
||||
|
||||
event.setSource(cereal::SensorEventData::SensorSource::LSM6DS3);
|
||||
event.setVersion(1);
|
||||
event.setVersion(2);
|
||||
event.setSensor(SENSOR_GYRO_UNCALIBRATED);
|
||||
event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED);
|
||||
event.setTimestamp(start_time);
|
||||
|
|
Loading…
Reference in New Issue