From 1b5e776dc59139db285dcf7252caab5af076ce2b Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 17 Jan 2012 19:53:20 -0600
Subject: [PATCH] Hardcoded scale for now since it isn't picking up from the
 cfg structure.

---
 flight/PiOS/STM32F4xx/pios_l3gd20.c   | 9 ++++-----
 flight/PiOS/inc/pios_l3gd20.h         | 1 -
 flight/Revolution/System/pios_board.c | 1 +
 3 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/flight/PiOS/STM32F4xx/pios_l3gd20.c b/flight/PiOS/STM32F4xx/pios_l3gd20.c
index 71e9f8eaa..3913eeaa8 100644
--- a/flight/PiOS/STM32F4xx/pios_l3gd20.c
+++ b/flight/PiOS/STM32F4xx/pios_l3gd20.c
@@ -256,15 +256,14 @@ int32_t PIOS_L3GD20_ReadFifo(struct pios_l3gd20_data * buffer)
 
 float PIOS_L3GD20_GetScale() 
 {
+	return 0.01750f;
 	switch (cfg->gyro_range) {
 		case PIOS_L3GD20_SCALE_250_DEG:
-			return 1.0f / 131.0f;
+			return 0.00875f;
 		case PIOS_L3GD20_SCALE_500_DEG:
-			return 1.0f / 65.5f;
-		case PIOS_L3GD20_SCALE_1000_DEG:
-			return 1.0f / 32.8f;
+			return 0.01750f;
 		case PIOS_L3GD20_SCALE_2000_DEG:
-			return 1.0f / 16.4f;
+			return 0.070f;
 	}
 	return 0;
 }
diff --git a/flight/PiOS/inc/pios_l3gd20.h b/flight/PiOS/inc/pios_l3gd20.h
index 775544d6c..090c325e7 100644
--- a/flight/PiOS/inc/pios_l3gd20.h
+++ b/flight/PiOS/inc/pios_l3gd20.h
@@ -106,7 +106,6 @@
 enum pios_l3gd20_range {
 	PIOS_L3GD20_SCALE_250_DEG  = 0x00,
 	PIOS_L3GD20_SCALE_500_DEG  = 0x08,
-	PIOS_L3GD20_SCALE_1000_DEG = 0x10,
 	PIOS_L3GD20_SCALE_2000_DEG = 0x18
 };
 
diff --git a/flight/Revolution/System/pios_board.c b/flight/Revolution/System/pios_board.c
index 62dfbdec2..efb270077 100644
--- a/flight/Revolution/System/pios_board.c
+++ b/flight/Revolution/System/pios_board.c
@@ -1526,6 +1526,7 @@ static const struct pios_l3gd20_cfg pios_l3gd20_cfg = {
 			.NVIC_IRQChannelCmd = ENABLE,
 		},
 	},
+	.gyro_range = PIOS_L3GD20_SCALE_500_DEG,
 };
 
 /**