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l3gd20 selftest: don't check for 0 offset 

If temperature compensation is enabled, the offset will be 0
sbg
Beat Küng 8 years ago committed by Lorenz Meier
parent
32ed939ea4
commit
0d000173b5
1 changed files with 4 additions and 4 deletions
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  1. 8
      src/drivers/l3gd20/l3gd20.cpp

8
src/drivers/l3gd20/l3gd20.cpp
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@ -1147,8 +1147,8 @@ L3GD20::test_error() @@ -1147,8 +1147,8 @@ L3GD20::test_error()
int
L3GD20::self_test()
{
/* evaluate gyro offsets, complain if offset -> zero or larger than 25 dps */
if (fabsf(_gyro_scale.x_offset) > L3GD20_MAX_OFFSET || fabsf(_gyro_scale.x_offset) < 0.000001f) {
/* evaluate gyro offsets, complain if offset larger than 25 dps */
if (fabsf(_gyro_scale.x_offset) > L3GD20_MAX_OFFSET) {
return 1;
}
@ -1156,7 +1156,7 @@ L3GD20::self_test() @@ -1156,7 +1156,7 @@ L3GD20::self_test()
return 1;
}
if (fabsf(_gyro_scale.y_offset) > L3GD20_MAX_OFFSET || fabsf(_gyro_scale.y_offset) < 0.000001f) {
if (fabsf(_gyro_scale.y_offset) > L3GD20_MAX_OFFSET) {
return 1;
}
@ -1164,7 +1164,7 @@ L3GD20::self_test() @@ -1164,7 +1164,7 @@ L3GD20::self_test()
return 1;
}
if (fabsf(_gyro_scale.z_offset) > L3GD20_MAX_OFFSET || fabsf(_gyro_scale.z_offset) < 0.000001f) {
if (fabsf(_gyro_scale.z_offset) > L3GD20_MAX_OFFSET) {
return 1;
}

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