From d3bd4e7eb3fb4e280f5d9f60e72014591bd54ea0 Mon Sep 17 00:00:00 2001
From: caternuson <caternuson@gmail.com>
Date: Thu, 15 Aug 2019 12:41:37 -0700
Subject: [PATCH] change to gyro and rads/sec

---
 adafruit_bno055.py            | 7 ++++++-
 examples/bno055_simpletest.py | 2 +-
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/adafruit_bno055.py b/adafruit_bno055.py
index 630730f..720600f 100644
--- a/adafruit_bno055.py
+++ b/adafruit_bno055.py
@@ -108,7 +108,12 @@ class BNO055:
     magnetic = _ScaledReadOnlyStruct(0x0e, '<hhh', 1/16)
     """Gives the raw magnetometer readings in microteslas."""
     gyroscope = _ScaledReadOnlyStruct(0x14, '<hhh', 1/16)
-    """Gives the raw gyroscope reading in degrees per second."""
+    """Gives the raw gyroscope reading in degrees per second.
+
+       .. warning:: This is deprecated. Use ``gyro`` instead. It'll work with
+         other drivers too."""
+    gyro = _ScaledReadOnlyStruct(0x14, '<hhh', 0.001090830782496456)
+    """Gives the raw gyroscope reading in radians per second."""
     euler = _ScaledReadOnlyStruct(0x1a, '<hhh', 1/16)
     """Gives the calculated orientation angles, in degrees."""
     quaternion = _ScaledReadOnlyStruct(0x20, '<hhhh', 1/(1<<14))
diff --git a/examples/bno055_simpletest.py b/examples/bno055_simpletest.py
index d52b517..6f21088 100644
--- a/examples/bno055_simpletest.py
+++ b/examples/bno055_simpletest.py
@@ -10,7 +10,7 @@
     print('Temperature: {} degrees C'.format(sensor.temperature))
     print('Accelerometer (m/s^2): {}'.format(sensor.accelerometer))
     print('Magnetometer (microteslas): {}'.format(sensor.magnetometer))
-    print('Gyroscope (deg/sec): {}'.format(sensor.gyroscope))
+    print('Gyroscope (rad/sec): {}'.format(sensor.gyro))
     print('Euler angle: {}'.format(sensor.euler))
     print('Quaternion: {}'.format(sensor.quaternion))
     print('Linear acceleration (m/s^2): {}'.format(sensor.linear_acceleration))