From 6bf2667698b51adae90ef917005fbc5059dd4504 Mon Sep 17 00:00:00 2001
From: Hugo Chiang <1483569698@qq.com>
Date: Sun, 30 Jun 2024 11:54:02 +0800
Subject: [PATCH] fix scale factor for st imus (#63)

---
 src/main/drivers/accgyro/accgyro_spi_asm330lhh_init.c | 2 +-
 src/main/drivers/accgyro/accgyro_spi_lsm6ds3_init.c   | 2 +-
 src/main/drivers/accgyro/accgyro_spi_lsm6dsl_init.c   | 2 +-
 src/main/drivers/accgyro/accgyro_spi_lsm6dso_init.c   | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/drivers/accgyro/accgyro_spi_asm330lhh_init.c b/src/main/drivers/accgyro/accgyro_spi_asm330lhh_init.c
index 1bed77658..1ec2c802c 100644
--- a/src/main/drivers/accgyro/accgyro_spi_asm330lhh_init.c
+++ b/src/main/drivers/accgyro/accgyro_spi_asm330lhh_init.c
@@ -237,7 +237,7 @@ bool asm330lhhSpiGyroDetect(gyroDev_t *gyro)
 
     gyro->initFn = asm330lhhSpiGyroInit;
     gyro->readFn = asm330lhhGyroRead;
-    gyro->scale = GYRO_SCALE_2000DPS;
+    gyro->scale = 0.07f;
 
     return true;
 }
diff --git a/src/main/drivers/accgyro/accgyro_spi_lsm6ds3_init.c b/src/main/drivers/accgyro/accgyro_spi_lsm6ds3_init.c
index 6fcc195e4..fac4bb7a9 100644
--- a/src/main/drivers/accgyro/accgyro_spi_lsm6ds3_init.c
+++ b/src/main/drivers/accgyro/accgyro_spi_lsm6ds3_init.c
@@ -212,7 +212,7 @@ bool lsm6ds3SpiGyroDetect(gyroDev_t *gyro)
 
     gyro->initFn = lsm6ds3SpiGyroInit;
     gyro->readFn = lsm6ds3GyroRead;
-    gyro->scale = GYRO_SCALE_2000DPS;
+    gyro->scale = 0.07f;
 
     return true;
 }
diff --git a/src/main/drivers/accgyro/accgyro_spi_lsm6dsl_init.c b/src/main/drivers/accgyro/accgyro_spi_lsm6dsl_init.c
index 705fe1a46..53b83abbd 100644
--- a/src/main/drivers/accgyro/accgyro_spi_lsm6dsl_init.c
+++ b/src/main/drivers/accgyro/accgyro_spi_lsm6dsl_init.c
@@ -232,7 +232,7 @@ bool lsm6dslSpiGyroDetect(gyroDev_t *gyro)
 
     gyro->initFn = lsm6dslSpiGyroInit;
     gyro->readFn = lsm6dslGyroRead;
-    gyro->scale = GYRO_SCALE_2000DPS;
+    gyro->scale = 0.07f;
 
     return true;
 }
diff --git a/src/main/drivers/accgyro/accgyro_spi_lsm6dso_init.c b/src/main/drivers/accgyro/accgyro_spi_lsm6dso_init.c
index 10ca6cc73..f3ce123e9 100644
--- a/src/main/drivers/accgyro/accgyro_spi_lsm6dso_init.c
+++ b/src/main/drivers/accgyro/accgyro_spi_lsm6dso_init.c
@@ -237,7 +237,7 @@ bool lsm6dsoSpiGyroDetect(gyroDev_t *gyro)
 
     gyro->initFn = lsm6dsoSpiGyroInit;
     gyro->readFn = lsm6dsoGyroRead;
-    gyro->scale = GYRO_SCALE_2000DPS;
+    gyro->scale = 0.07f;
 
     return true;
 }