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Fix BMI085 scaling issue #21960

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merged 1 commit into from Oct 18, 2022
Merged

Fix BMI085 scaling issue #21960

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8 changes: 5 additions & 3 deletions libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp
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Expand Up @@ -155,7 +155,7 @@ static const struct {
uint8_t value;
} accel_config[] = {
{ REGA_CONF, 0xAC },
// setup 24g range
// setup 24g range (16g for BMI085)
{ REGA_RANGE, 0x03 },
// disable low-power mode
{ REGA_PWR_CONF, 0 },
Expand Down Expand Up @@ -207,10 +207,12 @@ bool AP_InertialSensor_BMI088::accel_init()
switch (v) {
case 0x1E:
_accel_devtype = DEVTYPE_INS_BMI088;
accel_range = 24.0;
hal.console->printf("BMI088: Found device\n");
break;
case 0x1F:
_accel_devtype = DEVTYPE_INS_BMI085;
accel_range = 16.0;
hal.console->printf("BMI085: Found device\n");
break;
default:
Expand Down Expand Up @@ -317,8 +319,8 @@ void AP_InertialSensor_BMI088::read_fifo_accel(void)
_inc_accel_error_count(accel_instance);
return;
}
// assume configured for 24g range
const float scale = (1.0/32768.0) * GRAVITY_MSS * 24.0;
// use new accel_range depending on sensor type
const float scale = (1.0/32768.0) * GRAVITY_MSS * accel_range;
const uint8_t *p = &data[0];
while (fifo_length >= 7) {
/*
Expand Down
1 change: 1 addition & 0 deletions libraries/AP_InertialSensor/AP_InertialSensor_BMI088.h
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Expand Up @@ -82,6 +82,7 @@ class AP_InertialSensor_BMI088 : public AP_InertialSensor_Backend {
enum Rotation rotation;
uint8_t temperature_counter;
enum DevTypes _accel_devtype;
float accel_range;

bool done_accel_config;
uint32_t accel_config_count;
Expand Down