From 88caa9bc936f84ca05cdfe8e68cb5e3ccec01704 Mon Sep 17 00:00:00 2001
From: ksschwabe <ksschwabe@gmail.com>
Date: Tue, 1 Dec 2015 12:47:11 +0100
Subject: [PATCH] MPU6000: Correct temperature scaling for use with ICM20608

---
 src/drivers/mpu6000/mpu6000.cpp | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index 235814c341..3d3bf24ada 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -1913,7 +1913,14 @@ MPU6000::measure()
 	arb.scaling = _accel_range_scale;
 	arb.range_m_s2 = _accel_range_m_s2;
 
-	_last_temperature = (report.temp) / 361.0f + 35.0f;
+    if(is_icm_device()) // if it is an ICM20608
+    {
+        _last_temperature = (report.temp) / 326.8f + 25.0f;
+    }
+    else // If it is an MPU6000
+    {
+        _last_temperature = (report.temp) / 361.0f + 35.0f;
+    }
 
 	arb.temperature_raw = report.temp;
 	arb.temperature = _last_temperature;