pybricks.hubs.MoveHub: Increase resolution for imu.acceleration.

pybricks/pybricks-api#94
pybricks · Apr 1, 2022 · 6b260a4 · 6b260a4
1 parent 088fbfd
commit 6b260a4
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -27,12 +27,13 @@
 - Disabled `Motor.control` and `Motor.log` on Move Hub to save space.
 - Changed LED color calibration on Prime hub to make yellow less green.
 - Updated to upstream MicroPython v1.18.
+- Changed MoveHub.imu.acceleration() units to mm/s/s ([pybricks-micropython#88]).
 
 ### Fixed
 - Fixed color calibration on Powered Up remote control ([support#424]).
 - Fixed 3x3 Light Matrix colors with hue > 255 not working correctly ([support#619]).
 
-
+[pybricks-micropython#88]: https://github.com/pybricks/pybricks-micropython/issues/49
 [support#424]: https://github.com/pybricks/support/issues/424
 [support#619]: https://github.com/pybricks/support/issues/619
 

diff --git a/pybricks/hubs/pb_type_movehub.c b/pybricks/hubs/pb_type_movehub.c
@@ -185,7 +185,7 @@ STATIC mp_obj_t hubs_MoveHub_IMU_acceleration(mp_obj_t self_in) {
     // Convert to appropriate units and return as tuple
     mp_obj_t values[3];
     for (uint8_t i = 0; i < 3; i++) {
-        values[i] = MP_OBJ_NEW_SMALL_INT((data[i] * 10) >> 6);
+        values[i] = MP_OBJ_NEW_SMALL_INT((data[i] * 158));
     }
     return mp_obj_new_tuple(3, values);
 }