Fixed incorrect scaling of acceleration values

apps/mavlink/mavlink.c

@@ -635,8 +635,8 @@ static void *uorb_receiveloop(void *arg)
 
 				/* send raw imu data */
 				mavlink_msg_raw_imu_send(MAVLINK_COMM_0, buf.raw.timestamp, buf.raw.accelerometer_raw[0], buf.raw.accelerometer_raw[1], buf.raw.accelerometer_raw[2], buf.raw.gyro_raw[0], buf.raw.gyro_raw[1], buf.raw.gyro_raw[2], buf.raw.magnetometer_raw[0], buf.raw.magnetometer_raw[1], buf.raw.magnetometer_raw[2]);
-				/* send scaled imu data */
-				mavlink_msg_scaled_imu_send(MAVLINK_COMM_0, buf.raw.timestamp, buf.raw.accelerometer_m_s2[0] * 9810, buf.raw.accelerometer_m_s2[1] * 9810, buf.raw.accelerometer_m_s2[2] * 9810, buf.raw.gyro_rad_s[0] * 1000, buf.raw.gyro_rad_s[1] * 1000, buf.raw.gyro_rad_s[2] * 1000, buf.raw.magnetometer_ga[0] * 1000, buf.raw.magnetometer_ga[1] * 1000, buf.raw.magnetometer_ga[2] * 1000);
+				/* send scaled imu data (m/s^2 accelerations scaled back to milli-g) */
+				mavlink_msg_scaled_imu_send(MAVLINK_COMM_0, buf.raw.timestamp, buf.raw.accelerometer_m_s2[0] * 101.936799f, buf.raw.accelerometer_m_s2[1] * 101.936799f, buf.raw.accelerometer_m_s2[2] * 101.936799f, buf.raw.gyro_rad_s[0] * 1000, buf.raw.gyro_rad_s[1] * 1000, buf.raw.gyro_rad_s[2] * 1000, buf.raw.magnetometer_ga[0] * 1000, buf.raw.magnetometer_ga[1] * 1000, buf.raw.magnetometer_ga[2] * 1000);
 				/* send pressure */
 				mavlink_msg_scaled_pressure_send(MAVLINK_COMM_0, buf.raw.timestamp / 1000, buf.raw.baro_pres_mbar, buf.raw.baro_alt_meter, buf.raw.baro_temp_celcius * 100);
 

apps/px4/attitude_estimator_bm/attitude_estimator_bm.c

@@ -87,9 +87,9 @@ int attitude_estimator_bm_update(struct sensor_combined_s *raw, float_vect3 *eul
 	gyro_values.z =  raw->gyro_rad_s[2];
 
 	float_vect3 accel_values;
-	accel_values.x = raw->accelerometer_m_s2[0];
-	accel_values.y = raw->accelerometer_m_s2[1];
-	accel_values.z = raw->accelerometer_m_s2[2];
+	accel_values.x = raw->accelerometer_m_s2[0] * 9.81f;
+	accel_values.y = raw->accelerometer_m_s2[1] * 9.81f;
+	accel_values.z = raw->accelerometer_m_s2[2] * 9.81f;
 
 	float_vect3 mag_values;
 	mag_values.x = raw->magnetometer_ga[0]*100.0f;

apps/sensors/sensors.c

@@ -819,9 +819,9 @@ int sensors_thread_main(int argc, char *argv[])
 				// XXX read range from sensor
 				float range_g = 4.0f;
 				/* scale from 14 bit to m/s2 */
-				raw.accelerometer_m_s2[0] = (((raw.accelerometer_raw[0] - acc_offset[0]) * range_g) / 8192.0f) / 9.81f;
-				raw.accelerometer_m_s2[1] = (((raw.accelerometer_raw[1] - acc_offset[1]) * range_g) / 8192.0f) / 9.81f;
-				raw.accelerometer_m_s2[2] = (((raw.accelerometer_raw[2] - acc_offset[2]) * range_g) / 8192.0f) / 9.81f;
+				raw.accelerometer_m_s2[0] = (((raw.accelerometer_raw[0] - acc_offset[0]) / 8192.0f) * range_g) * 9.81f;
+				raw.accelerometer_m_s2[1] = (((raw.accelerometer_raw[1] - acc_offset[1]) / 8192.0f) * range_g) * 9.81f;
+				raw.accelerometer_m_s2[2] = (((raw.accelerometer_raw[2] - acc_offset[2]) / 8192.0f) * range_g) * 9.81f;
 
 				raw.accelerometer_raw_counter++;
 			}