From c9a08c26ea0840a03c7a95730b5e834aaa64a5c4 Mon Sep 17 00:00:00 2001 From: Erki Date: Tue, 22 Jun 2021 16:14:06 +0300 Subject: [PATCH] Peripherals: make IMU accelerometerRawToReading return G's. --- Peripherals/Inc/peripherals_imu_icm.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Peripherals/Inc/peripherals_imu_icm.hpp b/Peripherals/Inc/peripherals_imu_icm.hpp index 4ecb0d9..c3c2cff 100644 --- a/Peripherals/Inc/peripherals_imu_icm.hpp +++ b/Peripherals/Inc/peripherals_imu_icm.hpp @@ -214,7 +214,7 @@ public: float accelerometerRawToReading(const std::int16_t bit) const { - return float(bit) * accel_fs_to_bit_constants_[std::uint32_t(scale_accel_)]; + return (float(bit) * accel_fs_to_bit_constants_[std::uint32_t(scale_accel_)]) * 9.8f; } float gyroRawToReading(const std::int16_t bit) const