fix issue 103: use correct constant for gravity calculation#104
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I replicated the issue reported, and after running CalibrateAccel() with the current code, the Z-axis shows approximately 16364 instead of the expected value of ~8192 for the ±4G range. |
sabas1080
approved these changes
Dec 9, 2025
Elizabeth-0
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Dec 9, 2025
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Implementing a fix for the gravity constant in the acceleration calibration process that caused the resulting z-axis offset to be incorrect. The gravity of 1G was being calculated like this:
gravity = 32768 >> getFullScaleAccelRange();.getFullScaleAccelRange()returns 0 when the range of -2G to +2G is set, while the raw sensor readings go from -32768 to +32767. By that logic, 1G would equal about 16384.Fixes #103