fix: IMU values were off by a factor of 1000.0

ClemensElflein · Mar 21, 2023 · 07e0a6c · 07e0a6c
1 parent 83ba99d
commit 07e0a6c
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/Firmware/LowLevel/src/imu/LSM6DSO/imu.cpp b/Firmware/LowLevel/src/imu/LSM6DSO/imu.cpp
@@ -29,13 +29,13 @@ bool imu_read(float *acceleration_mss, float *gyro_rads, float *mag_uT)
     success &= IMU.Get_X_Axes(accelerometer) == 0;
     success &= IMU.Get_G_Axes(gyroscope) == 0;
 
-    acceleration_mss[0] = accelerometer[0] * 9.81;
-    acceleration_mss[1] = accelerometer[1] * 9.81;
-    acceleration_mss[2] = accelerometer[2] * 9.81;
+    acceleration_mss[0] = accelerometer[0] * 9.81 / 1000.0;
+    acceleration_mss[1] = accelerometer[1] * 9.81 / 1000.0;
+    acceleration_mss[2] = accelerometer[2] * 9.81 / 1000.0;
 
-    gyro_rads[0] = gyroscope[0] * (PI/180.0);
-    gyro_rads[1] = gyroscope[1] * (PI/180.0);
-    gyro_rads[2] = -gyroscope[2] * (PI/180.0);
+    gyro_rads[0] = gyroscope[0] * (PI/180.0) / 1000.0;
+    gyro_rads[1] = gyroscope[1] * (PI/180.0) / 1000.0;
+    gyro_rads[2] = -gyroscope[2] * (PI/180.0) / 1000.0;
 
     mag_uT[0] = 0;
     mag_uT[1] = 0;