From 9ad50b83eca7aea8c9e568a661fcdd98598d0c73 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 25 Feb 2020 15:35:33 -0800 Subject: [PATCH] =?utf8?q?altoslib:=20BMX160=20driver=20now=20returns=20?= =?utf8?q?=C2=B5T=20values=20for=20mag=20sensor?= MIME-Version: 1.0 Content-Type: text/plain; charset=utf8 Content-Transfer-Encoding: 8bit These are converted on-board using calibration values provided with the chip. Signed-off-by: Keith Packard --- altoslib/AltosIMU.java | 15 ++------------- 1 file changed, 2 insertions(+), 13 deletions(-) diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java index 3ce49499..fc9fa583 100644 --- a/altoslib/AltosIMU.java +++ b/altoslib/AltosIMU.java @@ -88,11 +88,7 @@ public class AltosIMU implements Cloneable { public static final double MAG_COUNTS_MPU = 32767.0; public static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU; - public static final double MAG_FULLSCALE_GAUSS_BMX_XY = 11.50; /* 1150µT */ - public static final double MAG_FULLSCALE_GAUSS_BMX_Z = 25.00; /* 2500µT */ - public static final double MAG_COUNTS_BMX = 32767.0; - public static final double counts_per_gauss_bmx_xy = MAG_COUNTS_BMX / MAG_FULLSCALE_GAUSS_BMX_XY; - public static final double counts_per_gauss_bmx_z = MAG_COUNTS_BMX / MAG_FULLSCALE_GAUSS_BMX_Z; + public static final double counts_per_gauss_bmx = 100.0; /* BMX driver converts to µT */ public static double counts_per_gauss(int imu_type, int axis) { switch(imu_type) { @@ -103,14 +99,7 @@ public class AltosIMU implements Cloneable { case imu_type_easymega_v2: return counts_per_gauss_mpu; case imu_type_telemega_v4: - switch (axis) { - case imu_axis_x: - case imu_axis_y: - return counts_per_gauss_bmx_xy; - case imu_axis_z: - return counts_per_gauss_bmx_z; - } - /* fall through */ + return 100.0; default: return AltosLib.MISSING; } -- 2.30.2