fix wrong gyro units - updated example output and add actions

Author: ladyada

.github/workflows/githubci.yml

@@ -0,0 +1,32 @@
+name: Arduino Library CI
+
+on: [pull_request, push, repository_dispatch]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    
+    steps:
+    - uses: actions/setup-python@v1
+      with:
+        python-version: '3.x'
+    - uses: actions/checkout@v2
+    - uses: actions/checkout@v2
+      with:
+         repository: adafruit/ci-arduino
+         path: ci
+
+    - name: pre-install
+      run: bash ci/actions_install.sh
+
+    - name: test platforms
+      run: python3 ci/build_platform.py main_platforms
+
+    - name: clang
+      run: python3 ci/run-clang-format.py -e "ci/*" -e "bin/*" -r . 
+
+    - name: doxygen
+      env:
+        GH_REPO_TOKEN: ${{ secrets.GH_REPO_TOKEN }}
+        PRETTYNAME : "Adafruit LSM9DS1 Library"
+      run: bash ci/doxy_gen_and_deploy.sh

Adafruit_LSM9DS0.cpp

@@ -486,9 +486,9 @@ void Adafruit_LSM9DS0::getGyroEvent(sensors_event_t* event, uint32_t timestamp)
   event->sensor_id = _lsm9dso_sensorid_accel;
   event->type      = SENSOR_TYPE_GYROSCOPE;
   event->timestamp = timestamp;
-  event->gyro.x = gyroData.x * _gyro_dps_digit;
-  event->gyro.y = gyroData.y * _gyro_dps_digit;
-  event->gyro.z = gyroData.z * _gyro_dps_digit;
+  event->gyro.x = gyroData.x * _gyro_dps_digit * SENSORS_DPS_TO_RADS;
+  event->gyro.y = gyroData.y * _gyro_dps_digit * SENSORS_DPS_TO_RADS;
+  event->gyro.z = gyroData.z * _gyro_dps_digit * SENSORS_DPS_TO_RADS;
 }
 
 void Adafruit_LSM9DS0::getTempEvent(sensors_event_t* event, uint32_t timestamp) {

examples/sensorapi/sensorapi.ino

@@ -188,12 +188,12 @@ void loop(void)
   // print out magnetometer data
   Serial.print("Magn. X: "); Serial.print(mag.magnetic.x); Serial.print(" ");
   Serial.print("  \tY: "); Serial.print(mag.magnetic.y);       Serial.print(" ");
-  Serial.print("  \tZ: "); Serial.print(mag.magnetic.z);     Serial.println("  \tgauss");
+  Serial.print("  \tZ: "); Serial.print(mag.magnetic.z);     Serial.println("  \tuT");
 
   // print out gyroscopic data
   Serial.print("Gyro  X: "); Serial.print(gyro.gyro.x); Serial.print(" ");
   Serial.print("  \tY: "); Serial.print(gyro.gyro.y);       Serial.print(" ");
-  Serial.print("  \tZ: "); Serial.print(gyro.gyro.z);     Serial.println("  \tdps");
+  Serial.print("  \tZ: "); Serial.print(gyro.gyro.z);     Serial.println("  \trad/s");
 
   // print out temperature data
   Serial.print("Temp: "); Serial.print(temp.temperature); Serial.println(" *C");

library.properties

@@ -1,5 +1,5 @@
 name=Adafruit LSM9DS0 Library
-version=1.0.4
+version=2.0.0
 author=Adafruit
 maintainer=Adafruit <[email protected]>
 sentence=Arduino library for LSM9DS0 9-DOF sensor board.