From f5845cb037429e8f8327a1c3955d5705704d6d7f Mon Sep 17 00:00:00 2001 From: James Cotton <peabody124@gmail.com> Date: Sat, 9 Jun 2012 11:18:14 -0500 Subject: [PATCH] Fix self test for MPU6000 so it returns negative values per our standard --- flight/PiOS/Common/pios_mpu6000.c | 2 +- flight/PiOS/inc/pios_mpu6000.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/flight/PiOS/Common/pios_mpu6000.c b/flight/PiOS/Common/pios_mpu6000.c index f1268e83f..7df306d10 100644 --- a/flight/PiOS/Common/pios_mpu6000.c +++ b/flight/PiOS/Common/pios_mpu6000.c @@ -354,7 +354,7 @@ float PIOS_MPU6000_GetAccelScale() * \return 0 if test succeeded * \return non-zero value if test succeeded */ -uint8_t PIOS_MPU6000_Test(void) +int32_t PIOS_MPU6000_Test(void) { /* Verify that ID matches (MPU6000 ID is 0x69) */ int32_t mpu6000_id = PIOS_MPU6000_ReadID(); diff --git a/flight/PiOS/inc/pios_mpu6000.h b/flight/PiOS/inc/pios_mpu6000.h index 191b69ed5..317b8155b 100644 --- a/flight/PiOS/inc/pios_mpu6000.h +++ b/flight/PiOS/inc/pios_mpu6000.h @@ -154,7 +154,7 @@ extern int32_t PIOS_MPU6000_Init(uint32_t spi_id, uint32_t slave_num, const stru extern xQueueHandle PIOS_MPU6000_GetQueue(); extern int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * buffer); extern int32_t PIOS_MPU6000_ReadID(); -extern uint8_t PIOS_MPU6000_Test(); +extern int32_t PIOS_MPU6000_Test(); extern float PIOS_MPU6000_GetScale(); extern float PIOS_MPU6000_GetAccelScale(); extern void PIOS_MPU6000_IRQHandler(void);