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Code Issues Releases Activity

REVONANO - Disable Sensitivity Adjustment values.

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This commit is contained in:
Alessio Morale 2015-02-23 21:40:11 +01:00
parent cf09616ba8
commit 895540974a
1 changed files with 7 additions and 2 deletions
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9
flight/pios/common/pios_mpu9250.c
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@ -682,7 +682,12 @@ static int32_t PIOS_MPU9250_Mag_Sensitivity(void)
/* Read the mag data from SPI block */
for (i = 0; i < 0x3; i++) {
PIOS_SPI_TransferByte(dev->spi_id, (PIOS_MPU9250_EXT_SENS_DATA_00 | 0x80) + i);
dev->mag_sens_adj[i] = (float)(PIOS_SPI_TransferByte(dev->spi_id, 0x0) - 128) / 256 + 1;
int32_t ret = PIOS_SPI_TransferByte(dev->spi_id, 0x0);
if (ret < 0) {
PIOS_MPU9250_ReleaseBus();
return -1;
}
dev->mag_sens_adj[i] = 1.0f; // 1.0f + ((float)((uint8_t)ret - 128)) / 256.0f;
}
PIOS_MPU9250_ReleaseBus();
@ -914,7 +919,7 @@ static bool PIOS_MPU9250_HandleData()
mag_data->temperature = queue_data->temperature;
#ifdef PIOS_MPU9250_MAG
if (mag_valid) {
mag_data->sample[0].z = GET_SENSOR_DATA(mpu9250_data, Mag_Z); // chip Z
mag_data->sample[0].z = GET_SENSOR_DATA(mpu9250_data, Mag_Z) * dev->mag_sens_adj[2]; // chip Z
mag_ready = true;
}
#endif