MPU6000: Use signed addition when accumulating readings.

- Fixes very erratic accel readings on the PX4 board.
12 years ago · 1309b7332a
1 changed files with 2 additions and 2 deletions
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
@ -374,9 +374,9 @@ void AP_InertialSensor_MPU6000::_read_data_transaction() {
    memset(tx,0,15);
    tx[0] = MPUREG_ACCEL_XOUT_H | 0x80;
    _spi->transaction(tx, rx, 15);
-    
+
    for (uint8_t i = 0; i < 7; i++) {
-        _sum[i] += ((rx[2*i+1] << 8) | rx[2*i+2]);
+        _sum[i] += (int16_t)(((uint16_t)rx[2*i+1] << 8) | rx[2*i+2]);
    }   
    _count++;