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Bugfix in MPU6000 driver

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acceleration exceeds 1G and makes arcsin fail
This commit is contained in:
philsson 2018-09-09 22:37:20 +02:00
parent 3f2c9f7003
commit e1de1ac99f
1 changed files with 12 additions and 2 deletions
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14
src/drivers/MPU6000.cpp
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@ -72,7 +72,7 @@ bool mpu6000_spi::init(int sample_rate_div,int low_pass_filter){
response=spi.write(0x00);
deselect();
return true; // TODO
return false; // TODO
}
int mpu6000_spi::enableInterrupt()
@ -207,7 +207,17 @@ float mpu6000_spi::read_acc(int axis){
float mpu6000_spi::read_acc_deg(int axis)
{
return asin(read_acc(axis))/PI*180;
float g(read_acc(axis));
if (g > 1.0f)
{
g = 1.0f;
}
else if (g < -1.0f)
{
g = -1.0f;
}
return asin(g)/PI*180;
}
float mpu6000_spi::read_rot(int axis){