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drivers/lsm303agr: fixed bug incorrectly assembling signed 16 bit integer from bytes

release/1.12
garfieldG 4 years ago committed by GitHub
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1 changed files with 3 additions and 3 deletions
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  1. 6
      src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp

6
src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp
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@ -315,9 +315,9 @@ int LSM303AGR::collect()
const hrt_abstime timestamp_sample = hrt_absolute_time(); const hrt_abstime timestamp_sample = hrt_absolute_time();
// switch to right hand coordinate system in place // switch to right hand coordinate system in place
float x_raw = read_reg(OUTX_L_REG_M) + (read_reg(OUTX_H_REG_M) << 8); int16_t x_raw = read_reg(OUTX_L_REG_M) + (read_reg(OUTX_H_REG_M) << 8);
float y_raw = read_reg(OUTY_L_REG_M) + (read_reg(OUTY_H_REG_M) << 8); int16_t y_raw = read_reg(OUTY_L_REG_M) + (read_reg(OUTY_H_REG_M) << 8);
float z_raw = -(read_reg(OUTZ_L_REG_M) + (read_reg(OUTZ_H_REG_M) << 8)); int16_t z_raw = -(read_reg(OUTZ_L_REG_M) + (read_reg(OUTZ_H_REG_M) << 8));
_px4_mag.update(timestamp_sample, x_raw, y_raw, z_raw); _px4_mag.update(timestamp_sample, x_raw, y_raw, z_raw);

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