From e6af00b1615482ac92b9771abde84c27d21d30cb Mon Sep 17 00:00:00 2001
From: Meia <71262281+kounocom@users.noreply.github.com>
Date: Fri, 28 Nov 2025 01:53:20 +0200
Subject: [PATCH] Fix LSM* Accelerometer Sensitivity (#499)

---
 src/sensors/softfusion/drivers/lsm6ds3trc.h | 2 +-
 src/sensors/softfusion/drivers/lsm6dso.h    | 2 +-
 src/sensors/softfusion/drivers/lsm6dsr.h    | 2 +-
 src/sensors/softfusion/drivers/lsm6dsv.h    | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/sensors/softfusion/drivers/lsm6ds3trc.h b/src/sensors/softfusion/drivers/lsm6ds3trc.h
index dc2b185..4bdaa9b 100644
--- a/src/sensors/softfusion/drivers/lsm6ds3trc.h
+++ b/src/sensors/softfusion/drivers/lsm6ds3trc.h
@@ -54,7 +54,7 @@ struct LSM6DS3TRC {
 	static constexpr float TempTs = 1.0 / TempFreq;
 
 	static constexpr float GyroSensitivity = 28.571428571f;
-	static constexpr float AccelSensitivity = 4098.360655738f;
+	static constexpr float AccelSensitivity = 1000 / 0.122f;
 
 	static constexpr float TemperatureBias = 25.0f;
 	static constexpr float TemperatureSensitivity = 256.0f;
diff --git a/src/sensors/softfusion/drivers/lsm6dso.h b/src/sensors/softfusion/drivers/lsm6dso.h
index 760e3f3..9702631 100644
--- a/src/sensors/softfusion/drivers/lsm6dso.h
+++ b/src/sensors/softfusion/drivers/lsm6dso.h
@@ -53,7 +53,7 @@ struct LSM6DSO : LSM6DSOutputHandler {
 	static constexpr float TempTs = 1.0 / TempFreq;
 
 	static constexpr float GyroSensitivity = 1000 / 35.0f;
-	static constexpr float AccelSensitivity = 1000 / 0.244f;
+	static constexpr float AccelSensitivity = 1000 / 0.122f;
 
 	static constexpr float TemperatureBias = 25.0f;
 	static constexpr float TemperatureSensitivity = 256.0f;
diff --git a/src/sensors/softfusion/drivers/lsm6dsr.h b/src/sensors/softfusion/drivers/lsm6dsr.h
index d1fc089..bfd45b3 100644
--- a/src/sensors/softfusion/drivers/lsm6dsr.h
+++ b/src/sensors/softfusion/drivers/lsm6dsr.h
@@ -51,7 +51,7 @@ struct LSM6DSR : LSM6DSOutputHandler {
 	static constexpr float TempTs = 1.0 / TempFreq;
 
 	static constexpr float GyroSensitivity = 1000 / 35.0f;
-	static constexpr float AccelSensitivity = 1000 / 0.244f;
+	static constexpr float AccelSensitivity = 1000 / 0.122f;
 
 	static constexpr float TemperatureBias = 25.0f;
 	static constexpr float TemperatureSensitivity = 256.0f;
diff --git a/src/sensors/softfusion/drivers/lsm6dsv.h b/src/sensors/softfusion/drivers/lsm6dsv.h
index 36b59a4..df4916a 100644
--- a/src/sensors/softfusion/drivers/lsm6dsv.h
+++ b/src/sensors/softfusion/drivers/lsm6dsv.h
@@ -52,7 +52,7 @@ struct LSM6DSV : LSM6DSOutputHandler {
 	static constexpr float TempTs = 1.0 / TempFreq;
 
 	static constexpr float GyroSensitivity = 1000 / 35.0f;
-	static constexpr float AccelSensitivity = 1000 / 0.244f;
+	static constexpr float AccelSensitivity = 1000 / 0.122f;
 
 	static constexpr float TemperatureBias = 25.0f;
 	static constexpr float TemperatureSensitivity = 256.0f;