add missing gyro/mag drivers: adapt to new raw msg (unfiltered)

src/drivers/bmi055/bmi055_gyro.cpp

@@ -736,17 +736,17 @@ BMI055_gyro::measure()
 	 *        74 from all measurements centers them around zero.
 	 */
 
-	grb.x_raw = report.gyro_x;
-	grb.y_raw = report.gyro_y;
-	grb.z_raw = report.gyro_z;
-
 	float xraw_f = report.gyro_x;
 	float yraw_f = report.gyro_y;
 	float zraw_f = report.gyro_z;
 
 	// apply user specified rotation
 	rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
 
+	grb.x_raw = (int16_t)(xraw_f * _gyro_range_scale * 1000); // (int16) [rad / s * 1000]
+	grb.y_raw = (int16_t)(yraw_f * _gyro_range_scale * 1000); // (int16) [rad / s * 1000]
+	grb.z_raw = (int16_t)(zraw_f * _gyro_range_scale * 1000); // (int16) [rad / s * 1000]
+
 	float x_gyro_in_new = ((xraw_f * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
 	float y_gyro_in_new = ((yraw_f * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
 	float z_gyro_in_new = ((zraw_f * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
@@ -867,7 +867,3 @@ BMI055_gyro::print_registers()
 
 	printf("\n");
 }
-
-
-
-

src/drivers/bmm150/bmm150.cpp

@@ -687,6 +687,10 @@ BMM150::collect()
 	// apply user specified rotation
 	rotate_3f(_rotation, mrb.x, mrb.y, mrb.z);
 
+	mrb.x_raw = (int16_t)(mrb.x * _range_scale * 1000); // (int16) [Gs * 1000]
+	mrb.y_raw = (int16_t)(mrb.y * _range_scale * 1000); // (int16) [Gs * 1000]
+	mrb.z_raw = (int16_t)(mrb.z * _range_scale * 1000); // (int16) [Gs * 1000]
+
 
 	/* Scaling the data */
 	mrb.x = ((mrb.x * _range_scale) - _scale.x_offset) * _scale.x_scale;

src/drivers/fxas21002c/fxas21002c.cpp

@@ -1059,17 +1059,17 @@ FXAS21002C::measure()
 	// whether it has had failures
 	gyro_report.error_count = perf_event_count(_bad_registers);
 
-	gyro_report.x_raw = swap16(raw_gyro_report.x);
-	gyro_report.y_raw = swap16(raw_gyro_report.y);
-	gyro_report.z_raw = swap16(raw_gyro_report.z);
-
-	float xraw_f = gyro_report.x_raw;
-	float yraw_f = gyro_report.y_raw;
-	float zraw_f = gyro_report.z_raw;
+	float xraw_f = swap16(raw_gyro_report.x);
+	float yraw_f = swap16(raw_gyro_report.y);
+	float zraw_f = swap16(raw_gyro_report.z);
 
 	// apply user specified rotation
 	rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
 
+	gyro_report.x_raw = (int16_t)(xraw_f * _gyro_range_scale * 1000); // (int16) [rad / s * 1000]
+	gyro_report.y_raw = (int16_t)(yraw_f * _gyro_range_scale * 1000); // (int16) [rad / s * 1000]
+	gyro_report.z_raw = (int16_t)(zraw_f * _gyro_range_scale * 1000); // (int16) [rad / s * 1000]
+
 	float x_in_new = ((xraw_f * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
 	float y_in_new = ((yraw_f * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
 	float z_in_new = ((zraw_f * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;

src/drivers/hmc5883/hmc5883.cpp

@@ -979,17 +979,6 @@ HMC5883::collect()
 		}
 	}
 
-	/*
-	 * RAW outputs
-	 *
-	 * to align the sensor axes with the board, x and y need to be flipped
-	 * and y needs to be negated
-	 */
-	new_report.x_raw = -report.y;
-	new_report.y_raw = report.x;
-	/* z remains z */
-	new_report.z_raw = report.z;
-
 	/* scale values for output */
 
 	// XXX revisit for SPI part, might require a bus type IOCTL
@@ -1014,6 +1003,10 @@ HMC5883::collect()
 	// apply user specified rotation
 	rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
 
+	new_report.x_raw = (int16_t)(xraw_f * _range_scale * 1000); // (int16) [Gs * 1000]
+	new_report.y_raw = (int16_t)(yraw_f * _range_scale * 1000); // (int16) [Gs * 1000]
+	new_report.z_raw = (int16_t)(zraw_f * _range_scale * 1000); // (int16) [Gs * 1000]
+
 	new_report.x = ((xraw_f * _range_scale) - _scale.x_offset) * _scale.x_scale;
 	/* flip axes and negate value for y */
 	new_report.y = ((yraw_f * _range_scale) - _scale.y_offset) * _scale.y_scale;

src/drivers/ist8310/ist8310.cpp

@@ -959,23 +959,18 @@ IST8310::collect()
 	/* temperature measurement is not available on IST8310 */
 	new_report.temperature = 0;
 
-	/*
-	 * raw outputs
-	 *
-	 * Sensor doesn't follow right hand rule, swap x and y to make it obey
-	 * it.
-	 */
-	new_report.x_raw = report.y;
-	new_report.y_raw = report.x;
-	new_report.z_raw = report.z;
-
 	/* scale values for output */
 	xraw_f = report.y;
 	yraw_f = report.x;
 	zraw_f = report.z;
 
 	/* apply user specified rotation */
 	rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
+
+	new_report.x_raw = (int16_t)(xraw_f * _range_scale * 1000); // (int16) [Gs * 1000]
+	new_report.y_raw = (int16_t)(yraw_f * _range_scale * 1000); // (int16) [Gs * 1000]
+	new_report.z_raw = (int16_t)(zraw_f * _range_scale * 1000); // (int16) [Gs * 1000]
+
 	new_report.x = ((xraw_f * _range_scale) - _scale.x_offset) * _scale.x_scale;
 	new_report.y = ((yraw_f * _range_scale) - _scale.y_offset) * _scale.y_scale;
 	new_report.z = ((zraw_f * _range_scale) - _scale.z_offset) * _scale.z_scale;

src/drivers/l3gd20/l3gd20.cpp

@@ -1038,6 +1038,10 @@ L3GD20::measure()
 	// apply user specified rotation
 	rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
 
+	report.x_raw = (int16_t)(xraw_f * _gyro_range_scale * 1000); // (int16) [rad / s * 1000]
+	report.y_raw = (int16_t)(yraw_f * _gyro_range_scale * 1000); // (int16) [rad / s * 1000]
+	report.z_raw = (int16_t)(zraw_f * _gyro_range_scale * 1000); // (int16) [rad / s * 1000]
+
 	float xin = ((xraw_f * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
 	float yin = ((yraw_f * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
 	float zin = ((zraw_f * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;

src/drivers/lis3mdl/lis3mdl.cpp

@@ -946,14 +946,6 @@ LIS3MDL::collect()
 	sensor_is_onboard = !_interface->ioctl(MAGIOCGEXTERNAL, dummy);
 	new_report.is_external = !sensor_is_onboard;
 
-	/*
-	 * RAW outputs
-	 *
-	 */
-	new_report.x_raw = report.x;
-	new_report.y_raw = report.y;
-	new_report.z_raw = report.z;
-
 	/* the LIS3MDL mag on Pixhawk Pro by Drotek has x pointing towards,
 	 * y pointing to the right, and z down, therefore no switch needed,
 	 * it is better to have no artificial rotation inside the
@@ -966,6 +958,10 @@ LIS3MDL::collect()
 	// apply user specified rotation
 	rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
 
+	new_report.x_raw = (int16_t)(xraw_f * _range_scale * 1000); // (int16) [Gs * 1000]
+	new_report.y_raw = (int16_t)(yraw_f * _range_scale * 1000); // (int16) [Gs * 1000]
+	new_report.z_raw = (int16_t)(zraw_f * _range_scale * 1000); // (int16) [Gs * 1000]
+
 	new_report.x = ((xraw_f * _range_scale) - _scale.x_offset) * _scale.x_scale;
 	/* flip axes and negate value for y */
 	new_report.y = ((yraw_f * _range_scale) - _scale.y_offset) * _scale.y_scale;

src/drivers/mpu9250/mag.cpp

@@ -211,9 +211,6 @@ MPU9250_mag::_measure(struct ak8963_regs data)
 	 * Align axes - note the accel & gryo are also re-aligned so this
 	 *              doesn't look obvious with the datasheet
 	 */
-	mrb.x_raw =  data.x;
-	mrb.y_raw = -data.y;
-	mrb.z_raw = -data.z;
 
 	float xraw_f =  data.x;
 	float yraw_f = -data.y;
@@ -222,6 +219,10 @@ MPU9250_mag::_measure(struct ak8963_regs data)
 	/* apply user specified rotation */
 	rotate_3f(_parent->_rotation, xraw_f, yraw_f, zraw_f);
 
+	mrb.x_raw = (int16_t)(xraw_f * _mag_range_scale * _mag_asa_x * 1000); // (int16) [Gs * 1000]
+	mrb.y_raw = (int16_t)(yraw_f * _mag_range_scale * _mag_asa_x * 1000); // (int16) [Gs * 1000]
+	mrb.z_raw = (int16_t)(zraw_f * _mag_range_scale * _mag_asa_x * 1000); // (int16) [Gs * 1000]
+
 	mrb.x = ((xraw_f * _mag_range_scale * _mag_asa_x) - _mag_scale.x_offset) * _mag_scale.x_scale;
 	mrb.y = ((yraw_f * _mag_range_scale * _mag_asa_y) - _mag_scale.y_offset) * _mag_scale.y_scale;
 	mrb.z = ((zraw_f * _mag_range_scale * _mag_asa_z) - _mag_scale.z_offset) * _mag_scale.z_scale;

src/platforms/posix/drivers/df_ak8963_wrapper/df_ak8963_wrapper.cpp

@@ -280,16 +280,15 @@ int DfAK8963Wrapper::_publish(struct mag_sensor_data &data)
 	mag_report.timestamp = hrt_absolute_time();
 	mag_report.is_external = true;
 
-	// TODO: remove these (or get the values)
-	mag_report.x_raw = 0;
-	mag_report.y_raw = 0;
-	mag_report.z_raw = 0;
-
 	math::Vector<3> mag_val(data.field_x_ga, data.field_y_ga, data.field_z_ga);
 
 	// apply sensor rotation on the accel measurement
 	mag_val = _rotation_matrix * mag_val;
 
+	mag_report.x_raw = (int16_t)(mag_val(0) * 1000); // (int16) [Gs * 1000]
+	mag_report.y_raw = (int16_t)(mag_val(1) * 1000); // (int16) [Gs * 1000]
+	mag_report.z_raw = (int16_t)(mag_val(2) * 1000); // (int16) [Gs * 1000]
+
 	mag_report.x = (mag_val(0) - _mag_calibration.x_offset) * _mag_calibration.x_scale;
 	mag_report.y = (mag_val(1) - _mag_calibration.y_offset) * _mag_calibration.y_scale;
 	mag_report.z = (mag_val(2) - _mag_calibration.z_offset) * _mag_calibration.z_scale;

src/platforms/posix/drivers/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp

@@ -278,18 +278,17 @@ int DfHmc5883Wrapper::_publish(struct mag_sensor_data &data)
 	data.field_x_ga = -data.field_y_ga;
 	data.field_y_ga = tmp;
 
-	// TODO: remove these (or get the values)
-	mag_report.x_raw = 0;
-	mag_report.y_raw = 0;
-	mag_report.z_raw = 0;
-
 	math::Vector<3> mag_val(data.field_x_ga,
 				data.field_y_ga,
 				data.field_z_ga);
 
 	// apply sensor rotation on the accel measurement
 	mag_val = _rotation_matrix * mag_val;
 
+	mag_report.x_raw = (int16_t)(mag_val(0) * 1000); // (int16) [Gs * 1000]
+	mag_report.y_raw = (int16_t)(mag_val(1) * 1000); // (int16) [Gs * 1000]
+	mag_report.z_raw = (int16_t)(mag_val(2) * 1000); // (int16) [Gs * 1000]
+
 	// Apply calibration after rotation.
 	mag_report.x = (mag_val(0) - _mag_calibration.x_offset) * _mag_calibration.x_scale;
 	mag_report.y = (mag_val(1) - _mag_calibration.y_offset) * _mag_calibration.y_scale;