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ADIS16470 fixes. #40

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ADIS16470 fixes. #40

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16 changes: 9 additions & 7 deletions src/adis16470.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -226,8 +226,10 @@ int Adis16470::read_register(char address, int16_t& data)
if (size !=3)
{
perror("read");
return -1;
}
data = big_endian_to_short(&buff[1]);
return 0;
}

/**
Expand Down Expand Up @@ -301,8 +303,8 @@ int Adis16470::update_burst(void)
perror("update_burst");
return -1;
}
size = read(fd_, buff, 30);
if (size != 30)
size = read(fd_, buff, 24);
if (size != 24)
{
perror("update_burst");
return -1;
Expand All @@ -320,13 +322,13 @@ int Adis16470::update_burst(void)
// Z_GYRO_OUT
gyro[2] = big_endian_to_short(&buff[9]) * M_PI / 180 / 10.0;
// X_ACCL_OUT
accl[0] = big_endian_to_short(&buff[11]) * M_PI / 180 / 10.0;
accl[0] = big_endian_to_short(&buff[11]) * 9.8 * 40.0 / 32000.0;
// Y_ACCL_OUT
accl[1] = big_endian_to_short(&buff[13]) * M_PI / 180 / 10.0;
accl[1] = big_endian_to_short(&buff[13]) * 9.8 * 40.0 / 32000.0;
// Z_ACCL_OUT
accl[2] = big_endian_to_short(&buff[15]) * M_PI / 180 / 10.0;
accl[2] = big_endian_to_short(&buff[15]) * 9.8 * 40.0 / 32000.0;
// TEMP_OUT
temp = big_endian_to_short(&buff[16]) * 0.1;
temp = big_endian_to_short(&buff[17]) * 0.1;
return 0;
}

Expand Down Expand Up @@ -376,7 +378,7 @@ int Adis16470::set_bias_estimation_time(int16_t tbc)
int16_t dummy = 0;
read_register(0x66, dummy);
read_register(0x00, tbc);
ROS_INFO("TBC: %04x", tbc);
fprintf(stdout, "TBC: %04x", tbc);
return 0;
}

Expand Down