From 9b54578c9a30bd2ec185bbbfaf3d83ed26054484 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 26 May 2021 15:44:51 +0200 Subject: [PATCH] LSM6DS3 fix gyro scale (#21040) old-commit-hash: 79a2f06760533296164c2713ef2b73df85ef19ee --- selfdrive/sensord/sensors/lsm6ds3_gyro.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc index d38335eb61..ae651f2cbd 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc @@ -45,13 +45,13 @@ void LSM6DS3_Gyro::get_event(cereal::SensorEventData::Builder &event){ int len = read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer)); assert(len == sizeof(buffer)); - float scale = 250.0f / (1 << 15); + float scale = 8.75 / 1000.0; float x = DEG2RAD(read_16_bit(buffer[0], buffer[1]) * scale); float y = DEG2RAD(read_16_bit(buffer[2], buffer[3]) * scale); float z = DEG2RAD(read_16_bit(buffer[4], buffer[5]) * scale); event.setSource(cereal::SensorEventData::SensorSource::LSM6DS3); - event.setVersion(1); + event.setVersion(2); event.setSensor(SENSOR_GYRO_UNCALIBRATED); event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED); event.setTimestamp(start_time);