INS: fixed raw accel offset for APM1

we now get reasonable offset values
12 years ago · 152c12c283
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
@ -23,7 +23,7 @@ const float AP_InertialSensor_Oilpan::_adc_constraint = 900;
				@@ -23,7 +23,7 @@ const float AP_InertialSensor_Oilpan::_adc_constraint = 900;

 // Oilpan accelerometer scaling & offsets
 #define OILPAN_ACCEL_SCALE_1G   (GRAVITY * 2.0 / (2465.0 - 1617.0))
-#define OILPAN_RAW_ACCEL_OFFSET ((2465.0 - 1617.0) / 2)
+#define OILPAN_RAW_ACCEL_OFFSET ((2465.0 + 1617.0) * 0.5)
 #define OILPAN_RAW_GYRO_OFFSET  1658.0

 #define ToRad(x) (x*0.01745329252)  // *pi/180