AHRS
Dependencies: Eigen
Diff: LSM9DS1_i2c.cpp
- Revision:
- 12:1070a10a4624
- Parent:
- 7:bfde7bd5fe31
- Child:
- 13:3a41ef85fe7e
--- a/LSM9DS1_i2c.cpp Mon Aug 19 14:16:31 2019 +0000 +++ b/LSM9DS1_i2c.cpp Wed Sep 04 09:05:12 2019 +0000 @@ -584,9 +584,9 @@ gy -= gBiasRaw[Y_AXIS]; gz -= gBiasRaw[Z_AXIS]; } - gyroX = static_cast<float>(gx)/32768.0f*(float)settings.gyro.scale*3.14159265358979323846f/180.0f; - gyroY = static_cast<float>(gy)/32768.0f*(float)settings.gyro.scale*3.14159265358979323846f/180.0f; - gyroZ = static_cast<float>(gz)/32768.0f*(float)settings.gyro.scale*3.14159265358979323846f/180.0f; + gyroX = static_cast<float>(gx)/32768.0f*(float)settings.gyro.scale*3.14159265358979323846f/180.0f * 1.17; // measured correction 1.17, pmic 04.09.2019 + gyroY = static_cast<float>(gy)/32768.0f*(float)settings.gyro.scale*3.14159265358979323846f/180.0f * 1.17; + gyroZ = static_cast<float>(gz)/32768.0f*(float)settings.gyro.scale*3.14159265358979323846f/180.0f * 1.17; } int16_t LSM9DS1::readGyro(lsm9ds1_axis axis)