Diff: MPU6050.h

Revision:

4:fa71806deb67

Parent:

0:7d3cc2de8dd2

--- a/MPU6050.h	Fri Mar 30 16:29:45 2018 +0000
+++ b/MPU6050.h	Wed Apr 25 11:59:37 2018 +0000
@@ -151,7 +151,7 @@
 
 // Specify sensor full scale
 int Gscale = GFS_250DPS;
-int Ascale = AFS_2G;
+int Ascale = AFS_4G;
 
 //Set up I2C, (SDA,SCL)
 I2C i2c(I2C_SDA, I2C_SCL);
@@ -442,7 +442,7 @@
   fifo_count = ((uint16_t)data[0] << 8) | data[1];
   packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging
 
-  for (ii = 0; ii < packet_count; ii++) {
+/*  for (ii = 0; ii < packet_count; ii++) {
     int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0};
     readBytes(MPU6050_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging
     accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1]  ) ;  // Form signed 16-bit integer for each sample in FIFO
@@ -459,8 +459,8 @@
     gyro_bias[1]  += (int32_t) gyro_temp[1];
     gyro_bias[2]  += (int32_t) gyro_temp[2];
             
-}
-    accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases
+}*/
+/*    accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases
     accel_bias[1] /= (int32_t) packet_count;
     accel_bias[2] /= (int32_t) packet_count;
     gyro_bias[0]  /= (int32_t) packet_count;
@@ -537,7 +537,7 @@
 // Output scaled accelerometer biases for manual subtraction in the main program
    dest2[0] = (float)accel_bias[0]/(float)accelsensitivity; 
    dest2[1] = (float)accel_bias[1]/(float)accelsensitivity;
-   dest2[2] = (float)accel_bias[2]/(float)accelsensitivity;
+   dest2[2] = (float)accel_bias[2]/(float)accelsensitivity;*/
 }