Diff: GY80.cpp

Revision:

5:9dc0f2d15783

Parent:

4:cc026f60357a

--- a/GY80.cpp	Sat Oct 19 17:33:40 2013 +0000
+++ b/GY80.cpp	Thu Aug 08 16:06:48 2019 +0000
@@ -83,6 +83,11 @@
     accel_v[0] = (accel[0] - ACCEL_X_OFFSET) * ACCEL_X_SCALE;
     accel_v[1] = (accel[1] - ACCEL_Y_OFFSET) * ACCEL_Y_SCALE;
     accel_v[2] = (accel[2] - ACCEL_Z_OFFSET) * ACCEL_Z_SCALE;
+    
+    accel_v[0] = (accel_v[0]/255.0)*1000;
+    accel_v[1] = (accel[1]/255.0)*1000;
+    accel_v[2] = (accel[2]/255.0)*1000;
+    
 }
 
 
@@ -100,9 +105,11 @@
         gyro[1] = (short) ((uint16_t) buff[3] << 8 | buff[2]);
         gyro[2] = (short) ((uint16_t) buff[5] << 8 | buff[4]);
     }
+    
     gyro_v[0] = DEG2RAD((gyro[0] - GYRO_X_OFFSET) * GYRO_GAIN_X); 
     gyro_v[1] = DEG2RAD((gyro[1] - GYRO_Y_OFFSET) * GYRO_GAIN_Y);
     gyro_v[2] = DEG2RAD((gyro[2] - GYRO_Z_OFFSET) * GYRO_GAIN_Z);
+    
 }
 
 void GY80::Read_Magn(float* magn_v)
@@ -120,6 +127,7 @@
         mag[1] = (short) ((uint16_t) buff[3] << 8 | buff[2]);
         mag[2] = (short) ((uint16_t) buff[5] << 8 | buff[4]);
     }
+    
     magn_v[0] = (mag[0] - MAGN_X_OFFSET) * MAGN_X_SCALE;
     magn_v[1] = (mag[1] - MAGN_Y_OFFSET) * MAGN_Y_SCALE;
     magn_v[2] = (mag[2] - MAGN_Z_OFFSET) * MAGN_Z_SCALE;