Erik van de Coevering / Mbed 2 deprecated Multicopter_2018

Latest version of my quadcopter controller with an LPC1768 and MPU9250.

Dependencies:   mbed

Currently running on a custom PCB with 30.5 x 30.5mm mounts. There are also 2 PC apps that go with the software; one to set up the PID controller and one to balance the motors and props. If anyone is interested, send me a message and I'll upload them.

MPU9250_SPI/MPU9250_SPI.h@8:981f7e2365b6, 2018-07-31 (annotated)

Committer:
Anaesthetix
Date:
Tue Jul 31 20:36:57 2018 +0000
Revision:
8:981f7e2365b6
Parent:
0:0929d3d566cf 
Switched from Madgwick to Mahony as I'm having trouble with slow oscillations caused by the madgwick filter. Fixed an error on the PID algorithm also.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Anaesthetix 0:0929d3d566cf 1 /*CODED by Qiyong Mu on 21/06/2014
Anaesthetix 0:0929d3d566cf 2 kylongmu@msn.com
Anaesthetix 0:0929d3d566cf 3 */
Anaesthetix 0:0929d3d566cf 4
Anaesthetix 0:0929d3d566cf 5
Anaesthetix 0:0929d3d566cf 6 #ifndef mpu9250_spi_h
Anaesthetix 0:0929d3d566cf 7 #define mpu9250_spi_h
Anaesthetix 0:0929d3d566cf 8 #include "mbed.h"
Anaesthetix 0:0929d3d566cf 9
Anaesthetix 0:0929d3d566cf 10
Anaesthetix 0:0929d3d566cf 11 class mpu9250_spi
Anaesthetix 0:0929d3d566cf 12 {
Anaesthetix 0:0929d3d566cf 13 SPI& spi;
Anaesthetix 0:0929d3d566cf 14 DigitalOut cs;
Anaesthetix 0:0929d3d566cf 15
Anaesthetix 0:0929d3d566cf 16 public:
Anaesthetix 0:0929d3d566cf 17 mpu9250_spi(SPI& _spi, PinName _cs);
Anaesthetix 0:0929d3d566cf 18 unsigned int WriteReg( uint8_t WriteAddr, uint8_t WriteData );
Anaesthetix 0:0929d3d566cf 19 unsigned int ReadReg( uint8_t WriteAddr, uint8_t WriteData );
Anaesthetix 0:0929d3d566cf 20 void ReadRegs( uint8_t ReadAddr, uint8_t *ReadBuf, unsigned int Bytes );
Anaesthetix 0:0929d3d566cf 21
Anaesthetix 0:0929d3d566cf 22 bool init(int sample_rate_div,int low_pass_filter);
Anaesthetix 0:0929d3d566cf 23 bool init2(int sample_rate_div,int low_pass_filter);
Anaesthetix 0:0929d3d566cf 24 void read_temp();
Anaesthetix 0:0929d3d566cf 25 void read_acc();
Anaesthetix 0:0929d3d566cf 26 void read_rot();
Anaesthetix 0:0929d3d566cf 27 unsigned int set_gyro_scale(int scale);
Anaesthetix 0:0929d3d566cf 28 unsigned int set_acc_scale(int scale);
Anaesthetix 0:0929d3d566cf 29 void calib_acc();
Anaesthetix 0:0929d3d566cf 30 void AK8963_calib_Magnetometer();
Anaesthetix 0:0929d3d566cf 31 void select();
Anaesthetix 0:0929d3d566cf 32 void deselect();
Anaesthetix 0:0929d3d566cf 33 unsigned int whoami();
Anaesthetix 0:0929d3d566cf 34 uint8_t AK8963_whoami();
Anaesthetix 0:0929d3d566cf 35 void AK8963_read_Magnetometer();
Anaesthetix 0:0929d3d566cf 36 void read_all();
Anaesthetix 0:0929d3d566cf 37
Anaesthetix 0:0929d3d566cf 38
Anaesthetix 0:0929d3d566cf 39
Anaesthetix 0:0929d3d566cf 40 float acc_divider;
Anaesthetix 0:0929d3d566cf 41 float gyro_divider;
Anaesthetix 0:0929d3d566cf 42
Anaesthetix 0:0929d3d566cf 43 int calib_data[3];
Anaesthetix 0:0929d3d566cf 44 float Magnetometer_ASA[3];
Anaesthetix 0:0929d3d566cf 45
Anaesthetix 0:0929d3d566cf 46 float accelerometer_data[3];
Anaesthetix 0:0929d3d566cf 47 float Temperature;
Anaesthetix 0:0929d3d566cf 48 float gyroscope_data[3];
Anaesthetix 0:0929d3d566cf 49 float Magnetometer[3];
Anaesthetix 0:0929d3d566cf 50
Anaesthetix 0:0929d3d566cf 51 private:
Anaesthetix 0:0929d3d566cf 52 PinName _CS_pin;
Anaesthetix 0:0929d3d566cf 53 PinName _SO_pin;
Anaesthetix 0:0929d3d566cf 54 PinName _SCK_pin;
Anaesthetix 0:0929d3d566cf 55 float _error;
Anaesthetix 0:0929d3d566cf 56 };
Anaesthetix 0:0929d3d566cf 57
Anaesthetix 0:0929d3d566cf 58 #endif
Anaesthetix 0:0929d3d566cf 59
Anaesthetix 0:0929d3d566cf 60
Anaesthetix 0:0929d3d566cf 61
Anaesthetix 0:0929d3d566cf 62 // mpu9250 registers
Anaesthetix 0:0929d3d566cf 63 #define MPUREG_XG_OFFS_TC 0x00
Anaesthetix 0:0929d3d566cf 64 #define MPUREG_YG_OFFS_TC 0x01
Anaesthetix 0:0929d3d566cf 65 #define MPUREG_ZG_OFFS_TC 0x02
Anaesthetix 0:0929d3d566cf 66 #define MPUREG_X_FINE_GAIN 0x03
Anaesthetix 0:0929d3d566cf 67 #define MPUREG_Y_FINE_GAIN 0x04
Anaesthetix 0:0929d3d566cf 68 #define MPUREG_Z_FINE_GAIN 0x05
Anaesthetix 0:0929d3d566cf 69 #define MPUREG_XA_OFFS_H 0x06
Anaesthetix 0:0929d3d566cf 70 #define MPUREG_XA_OFFS_L 0x07
Anaesthetix 0:0929d3d566cf 71 #define MPUREG_YA_OFFS_H 0x08
Anaesthetix 0:0929d3d566cf 72 #define MPUREG_YA_OFFS_L 0x09
Anaesthetix 0:0929d3d566cf 73 #define MPUREG_ZA_OFFS_H 0x0A
Anaesthetix 0:0929d3d566cf 74 #define MPUREG_ZA_OFFS_L 0x0B
Anaesthetix 0:0929d3d566cf 75 #define MPUREG_PRODUCT_ID 0x0C
Anaesthetix 0:0929d3d566cf 76 #define MPUREG_SELF_TEST_X 0x0D
Anaesthetix 0:0929d3d566cf 77 #define MPUREG_SELF_TEST_Y 0x0E
Anaesthetix 0:0929d3d566cf 78 #define MPUREG_SELF_TEST_Z 0x0F
Anaesthetix 0:0929d3d566cf 79 #define MPUREG_SELF_TEST_A 0x10
Anaesthetix 0:0929d3d566cf 80 #define MPUREG_XG_OFFS_USRH 0x13
Anaesthetix 0:0929d3d566cf 81 #define MPUREG_XG_OFFS_USRL 0x14
Anaesthetix 0:0929d3d566cf 82 #define MPUREG_YG_OFFS_USRH 0x15
Anaesthetix 0:0929d3d566cf 83 #define MPUREG_YG_OFFS_USRL 0x16
Anaesthetix 0:0929d3d566cf 84 #define MPUREG_ZG_OFFS_USRH 0x17
Anaesthetix 0:0929d3d566cf 85 #define MPUREG_ZG_OFFS_USRL 0x18
Anaesthetix 0:0929d3d566cf 86 #define MPUREG_SMPLRT_DIV 0x19
Anaesthetix 0:0929d3d566cf 87 #define MPUREG_CONFIG 0x1A
Anaesthetix 0:0929d3d566cf 88 #define MPUREG_GYRO_CONFIG 0x1B
Anaesthetix 0:0929d3d566cf 89 #define MPUREG_ACCEL_CONFIG 0x1C
Anaesthetix 0:0929d3d566cf 90 #define MPUREG_ACCEL_CONFIG_2 0x1D
Anaesthetix 0:0929d3d566cf 91 #define MPUREG_LP_ACCEL_ODR 0x1E
Anaesthetix 0:0929d3d566cf 92 #define MPUREG_MOT_THR 0x1F
Anaesthetix 0:0929d3d566cf 93 #define MPUREG_FIFO_EN 0x23
Anaesthetix 0:0929d3d566cf 94 #define MPUREG_I2C_MST_CTRL 0x24
Anaesthetix 0:0929d3d566cf 95 #define MPUREG_I2C_SLV0_ADDR 0x25
Anaesthetix 0:0929d3d566cf 96 #define MPUREG_I2C_SLV0_REG 0x26
Anaesthetix 0:0929d3d566cf 97 #define MPUREG_I2C_SLV0_CTRL 0x27
Anaesthetix 0:0929d3d566cf 98 #define MPUREG_I2C_SLV1_ADDR 0x28
Anaesthetix 0:0929d3d566cf 99 #define MPUREG_I2C_SLV1_REG 0x29
Anaesthetix 0:0929d3d566cf 100 #define MPUREG_I2C_SLV1_CTRL 0x2A
Anaesthetix 0:0929d3d566cf 101 #define MPUREG_I2C_SLV2_ADDR 0x2B
Anaesthetix 0:0929d3d566cf 102 #define MPUREG_I2C_SLV2_REG 0x2C
Anaesthetix 0:0929d3d566cf 103 #define MPUREG_I2C_SLV2_CTRL 0x2D
Anaesthetix 0:0929d3d566cf 104 #define MPUREG_I2C_SLV3_ADDR 0x2E
Anaesthetix 0:0929d3d566cf 105 #define MPUREG_I2C_SLV3_REG 0x2F
Anaesthetix 0:0929d3d566cf 106 #define MPUREG_I2C_SLV3_CTRL 0x30
Anaesthetix 0:0929d3d566cf 107 #define MPUREG_I2C_SLV4_ADDR 0x31
Anaesthetix 0:0929d3d566cf 108 #define MPUREG_I2C_SLV4_REG 0x32
Anaesthetix 0:0929d3d566cf 109 #define MPUREG_I2C_SLV4_DO 0x33
Anaesthetix 0:0929d3d566cf 110 #define MPUREG_I2C_SLV4_CTRL 0x34
Anaesthetix 0:0929d3d566cf 111 #define MPUREG_I2C_SLV4_DI 0x35
Anaesthetix 0:0929d3d566cf 112 #define MPUREG_I2C_MST_STATUS 0x36
Anaesthetix 0:0929d3d566cf 113 #define MPUREG_INT_PIN_CFG 0x37
Anaesthetix 0:0929d3d566cf 114 #define MPUREG_INT_ENABLE 0x38
Anaesthetix 0:0929d3d566cf 115 #define MPUREG_ACCEL_XOUT_H 0x3B
Anaesthetix 0:0929d3d566cf 116 #define MPUREG_ACCEL_XOUT_L 0x3C
Anaesthetix 0:0929d3d566cf 117 #define MPUREG_ACCEL_YOUT_H 0x3D
Anaesthetix 0:0929d3d566cf 118 #define MPUREG_ACCEL_YOUT_L 0x3E
Anaesthetix 0:0929d3d566cf 119 #define MPUREG_ACCEL_ZOUT_H 0x3F
Anaesthetix 0:0929d3d566cf 120 #define MPUREG_ACCEL_ZOUT_L 0x40
Anaesthetix 0:0929d3d566cf 121 #define MPUREG_TEMP_OUT_H 0x41
Anaesthetix 0:0929d3d566cf 122 #define MPUREG_TEMP_OUT_L 0x42
Anaesthetix 0:0929d3d566cf 123 #define MPUREG_GYRO_XOUT_H 0x43
Anaesthetix 0:0929d3d566cf 124 #define MPUREG_GYRO_XOUT_L 0x44
Anaesthetix 0:0929d3d566cf 125 #define MPUREG_GYRO_YOUT_H 0x45
Anaesthetix 0:0929d3d566cf 126 #define MPUREG_GYRO_YOUT_L 0x46
Anaesthetix 0:0929d3d566cf 127 #define MPUREG_GYRO_ZOUT_H 0x47
Anaesthetix 0:0929d3d566cf 128 #define MPUREG_GYRO_ZOUT_L 0x48
Anaesthetix 0:0929d3d566cf 129 #define MPUREG_EXT_SENS_DATA_00 0x49
Anaesthetix 0:0929d3d566cf 130 #define MPUREG_EXT_SENS_DATA_01 0x4A
Anaesthetix 0:0929d3d566cf 131 #define MPUREG_EXT_SENS_DATA_02 0x4B
Anaesthetix 0:0929d3d566cf 132 #define MPUREG_EXT_SENS_DATA_03 0x4C
Anaesthetix 0:0929d3d566cf 133 #define MPUREG_EXT_SENS_DATA_04 0x4D
Anaesthetix 0:0929d3d566cf 134 #define MPUREG_EXT_SENS_DATA_05 0x4E
Anaesthetix 0:0929d3d566cf 135 #define MPUREG_EXT_SENS_DATA_06 0x4F
Anaesthetix 0:0929d3d566cf 136 #define MPUREG_EXT_SENS_DATA_07 0x50
Anaesthetix 0:0929d3d566cf 137 #define MPUREG_EXT_SENS_DATA_08 0x51
Anaesthetix 0:0929d3d566cf 138 #define MPUREG_EXT_SENS_DATA_09 0x52
Anaesthetix 0:0929d3d566cf 139 #define MPUREG_EXT_SENS_DATA_10 0x53
Anaesthetix 0:0929d3d566cf 140 #define MPUREG_EXT_SENS_DATA_11 0x54
Anaesthetix 0:0929d3d566cf 141 #define MPUREG_EXT_SENS_DATA_12 0x55
Anaesthetix 0:0929d3d566cf 142 #define MPUREG_EXT_SENS_DATA_13 0x56
Anaesthetix 0:0929d3d566cf 143 #define MPUREG_EXT_SENS_DATA_14 0x57
Anaesthetix 0:0929d3d566cf 144 #define MPUREG_EXT_SENS_DATA_15 0x58
Anaesthetix 0:0929d3d566cf 145 #define MPUREG_EXT_SENS_DATA_16 0x59
Anaesthetix 0:0929d3d566cf 146 #define MPUREG_EXT_SENS_DATA_17 0x5A
Anaesthetix 0:0929d3d566cf 147 #define MPUREG_EXT_SENS_DATA_18 0x5B
Anaesthetix 0:0929d3d566cf 148 #define MPUREG_EXT_SENS_DATA_19 0x5C
Anaesthetix 0:0929d3d566cf 149 #define MPUREG_EXT_SENS_DATA_20 0x5D
Anaesthetix 0:0929d3d566cf 150 #define MPUREG_EXT_SENS_DATA_21 0x5E
Anaesthetix 0:0929d3d566cf 151 #define MPUREG_EXT_SENS_DATA_22 0x5F
Anaesthetix 0:0929d3d566cf 152 #define MPUREG_EXT_SENS_DATA_23 0x60
Anaesthetix 0:0929d3d566cf 153 #define MPUREG_I2C_SLV0_DO 0x63
Anaesthetix 0:0929d3d566cf 154 #define MPUREG_I2C_SLV1_DO 0x64
Anaesthetix 0:0929d3d566cf 155 #define MPUREG_I2C_SLV2_DO 0x65
Anaesthetix 0:0929d3d566cf 156 #define MPUREG_I2C_SLV3_DO 0x66
Anaesthetix 0:0929d3d566cf 157 #define MPUREG_I2C_MST_DELAY_CTRL 0x67
Anaesthetix 0:0929d3d566cf 158 #define MPUREG_SIGNAL_PATH_RESET 0x68
Anaesthetix 0:0929d3d566cf 159 #define MPUREG_MOT_DETECT_CTRL 0x69
Anaesthetix 0:0929d3d566cf 160 #define MPUREG_USER_CTRL 0x6A
Anaesthetix 0:0929d3d566cf 161 #define MPUREG_PWR_MGMT_1 0x6B
Anaesthetix 0:0929d3d566cf 162 #define MPUREG_PWR_MGMT_2 0x6C
Anaesthetix 0:0929d3d566cf 163 #define MPUREG_BANK_SEL 0x6D
Anaesthetix 0:0929d3d566cf 164 #define MPUREG_MEM_START_ADDR 0x6E
Anaesthetix 0:0929d3d566cf 165 #define MPUREG_MEM_R_W 0x6F
Anaesthetix 0:0929d3d566cf 166 #define MPUREG_DMP_CFG_1 0x70
Anaesthetix 0:0929d3d566cf 167 #define MPUREG_DMP_CFG_2 0x71
Anaesthetix 0:0929d3d566cf 168 #define MPUREG_FIFO_COUNTH 0x72
Anaesthetix 0:0929d3d566cf 169 #define MPUREG_FIFO_COUNTL 0x73
Anaesthetix 0:0929d3d566cf 170 #define MPUREG_FIFO_R_W 0x74
Anaesthetix 0:0929d3d566cf 171 #define MPUREG_WHOAMI 0x75
Anaesthetix 0:0929d3d566cf 172 #define MPUREG_XA_OFFSET_H 0x77
Anaesthetix 0:0929d3d566cf 173 #define MPUREG_XA_OFFSET_L 0x78
Anaesthetix 0:0929d3d566cf 174 #define MPUREG_YA_OFFSET_H 0x7A
Anaesthetix 0:0929d3d566cf 175 #define MPUREG_YA_OFFSET_L 0x7B
Anaesthetix 0:0929d3d566cf 176 #define MPUREG_ZA_OFFSET_H 0x7D
Anaesthetix 0:0929d3d566cf 177 #define MPUREG_ZA_OFFSET_L 0x7E
Anaesthetix 0:0929d3d566cf 178 /* ---- AK8963 Reg In MPU9250 ----------------------------------------------- */
Anaesthetix 0:0929d3d566cf 179
Anaesthetix 0:0929d3d566cf 180 #define AK8963_I2C_ADDR 0x0c//0x18
Anaesthetix 0:0929d3d566cf 181 #define AK8963_Device_ID 0x48
Anaesthetix 0:0929d3d566cf 182
Anaesthetix 0:0929d3d566cf 183 // Read-only Reg
Anaesthetix 0:0929d3d566cf 184 #define AK8963_WIA 0x00
Anaesthetix 0:0929d3d566cf 185 #define AK8963_INFO 0x01
Anaesthetix 0:0929d3d566cf 186 #define AK8963_ST1 0x02
Anaesthetix 0:0929d3d566cf 187 #define AK8963_HXL 0x03
Anaesthetix 0:0929d3d566cf 188 #define AK8963_HXH 0x04
Anaesthetix 0:0929d3d566cf 189 #define AK8963_HYL 0x05
Anaesthetix 0:0929d3d566cf 190 #define AK8963_HYH 0x06
Anaesthetix 0:0929d3d566cf 191 #define AK8963_HZL 0x07
Anaesthetix 0:0929d3d566cf 192 #define AK8963_HZH 0x08
Anaesthetix 0:0929d3d566cf 193 #define AK8963_ST2 0x09
Anaesthetix 0:0929d3d566cf 194 // Write/Read Reg
Anaesthetix 0:0929d3d566cf 195 #define AK8963_CNTL1 0x0A
Anaesthetix 0:0929d3d566cf 196 #define AK8963_CNTL2 0x0B
Anaesthetix 0:0929d3d566cf 197 #define AK8963_ASTC 0x0C
Anaesthetix 0:0929d3d566cf 198 #define AK8963_TS1 0x0D
Anaesthetix 0:0929d3d566cf 199 #define AK8963_TS2 0x0E
Anaesthetix 0:0929d3d566cf 200 #define AK8963_I2CDIS 0x0F
Anaesthetix 0:0929d3d566cf 201 // Read-only Reg ( ROM )
Anaesthetix 0:0929d3d566cf 202 #define AK8963_ASAX 0x10
Anaesthetix 0:0929d3d566cf 203 #define AK8963_ASAY 0x11
Anaesthetix 0:0929d3d566cf 204 #define AK8963_ASAZ 0x12
Anaesthetix 0:0929d3d566cf 205
Anaesthetix 0:0929d3d566cf 206 // Configuration bits mpu9250
Anaesthetix 0:0929d3d566cf 207 #define BIT_SLEEP 0x40
Anaesthetix 0:0929d3d566cf 208 #define BIT_H_RESET 0x80
Anaesthetix 0:0929d3d566cf 209 #define BITS_CLKSEL 0x07
Anaesthetix 0:0929d3d566cf 210 #define MPU_CLK_SEL_PLLGYROX 0x01
Anaesthetix 0:0929d3d566cf 211 #define MPU_CLK_SEL_PLLGYROZ 0x03
Anaesthetix 0:0929d3d566cf 212 #define MPU_EXT_SYNC_GYROX 0x02
Anaesthetix 0:0929d3d566cf 213 #define BITS_FS_250DPS 0x00
Anaesthetix 0:0929d3d566cf 214 #define BITS_FS_500DPS 0x08
Anaesthetix 0:0929d3d566cf 215 #define BITS_FS_1000DPS 0x10
Anaesthetix 0:0929d3d566cf 216 #define BITS_FS_2000DPS 0x18
Anaesthetix 0:0929d3d566cf 217 #define BITS_FS_2G 0x00
Anaesthetix 0:0929d3d566cf 218 #define BITS_FS_4G 0x08
Anaesthetix 0:0929d3d566cf 219 #define BITS_FS_8G 0x10
Anaesthetix 0:0929d3d566cf 220 #define BITS_FS_16G 0x18
Anaesthetix 0:0929d3d566cf 221 #define BITS_FS_MASK 0x18
Anaesthetix 0:0929d3d566cf 222 #define BITS_DLPF_CFG_256HZ_NOLPF2 0x00
Anaesthetix 0:0929d3d566cf 223 #define BITS_DLPF_CFG_188HZ 0x01
Anaesthetix 0:0929d3d566cf 224 #define BITS_DLPF_CFG_98HZ 0x02
Anaesthetix 0:0929d3d566cf 225 #define BITS_DLPF_CFG_42HZ 0x03
Anaesthetix 0:0929d3d566cf 226 #define BITS_DLPF_CFG_20HZ 0x04
Anaesthetix 0:0929d3d566cf 227 #define BITS_DLPF_CFG_10HZ 0x05
Anaesthetix 0:0929d3d566cf 228 #define BITS_DLPF_CFG_5HZ 0x06
Anaesthetix 0:0929d3d566cf 229 #define BITS_DLPF_CFG_2100HZ_NOLPF 0x07
Anaesthetix 0:0929d3d566cf 230 #define BITS_DLPF_CFG_MASK 0x07
Anaesthetix 0:0929d3d566cf 231 #define BIT_INT_ANYRD_2CLEAR 0x10
Anaesthetix 0:0929d3d566cf 232 #define BIT_RAW_RDY_EN 0x01
Anaesthetix 0:0929d3d566cf 233 #define BIT_I2C_IF_DIS 0x10
Anaesthetix 0:0929d3d566cf 234
Anaesthetix 0:0929d3d566cf 235 #define READ_FLAG 0x80
Anaesthetix 0:0929d3d566cf 236
Anaesthetix 0:0929d3d566cf 237 /* ---- Sensitivity --------------------------------------------------------- */
Anaesthetix 0:0929d3d566cf 238
Anaesthetix 0:0929d3d566cf 239 #define MPU9250A_2g ((float)0.000061035156f) // 0.000061035156 g/LSB
Anaesthetix 0:0929d3d566cf 240 #define MPU9250A_4g ((float)0.000122070312f) // 0.000122070312 g/LSB
Anaesthetix 0:0929d3d566cf 241 #define MPU9250A_8g ((float)0.000244140625f) // 0.000244140625 g/LSB
Anaesthetix 0:0929d3d566cf 242 #define MPU9250A_16g ((float)0.000488281250f) // 0.000488281250 g/LSB
Anaesthetix 0:0929d3d566cf 243
Anaesthetix 0:0929d3d566cf 244 #define MPU9250G_250dps ((float)0.007633587786f) // 0.007633587786 dps/LSB
Anaesthetix 0:0929d3d566cf 245 #define MPU9250G_500dps ((float)0.015267175572f) // 0.015267175572 dps/LSB
Anaesthetix 0:0929d3d566cf 246 #define MPU9250G_1000dps ((float)0.030487804878f) // 0.030487804878 dps/LSB
Anaesthetix 0:0929d3d566cf 247 #define MPU9250G_2000dps ((float)0.060975609756f) // 0.060975609756 dps/LSB
Anaesthetix 0:0929d3d566cf 248
Anaesthetix 0:0929d3d566cf 249 #define MPU9250M_4800uT ((float)0.6f) // 0.6 uT/LSB
Anaesthetix 0:0929d3d566cf 250
Anaesthetix 0:0929d3d566cf 251 #define MPU9250T_85degC ((float)0.002995177763f) // 0.002995177763 degC/LSB
Anaesthetix 0:0929d3d566cf 252
Anaesthetix 0:0929d3d566cf 253 #define Magnetometer_Sensitivity_Scale_Factor ((float)0.15f)
Anaesthetix 0:0929d3d566cf 254