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@0:0929d3d566cf, 2018-07-09 (annotated)

Committer:
Anaesthetix
Date:
Mon Jul 09 16:31:40 2018 +0000
Revision:
0:0929d3d566cf
Latest version of my multicopter controller

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