Diff: MPU6050.cpp

Revision:

4:2d0953219845

Parent:

3:48773a5c8d48

Child:

5:f806657f0009

--- a/MPU6050.cpp	Sun May 21 12:03:43 2017 +0000
+++ b/MPU6050.cpp	Fri Aug 18 08:53:05 2017 +0000
@@ -14,8 +14,8 @@
     write_reg(ADDRESS,MPU6050_PWR_MGMT_1,0x00);
     write_reg(ADDRESS,MPU6050_GYRO_CONFIG,0x08);//gyro +-500deg/s //0x10);//gyro +-1000deg/s
     write_reg(ADDRESS,MPU6050_ACCEL_CONFIG,0x00);//accel +-2G //0x08);//accel +-4G
-    write_reg(ADDRESS,MPU6050_CONFIG,0x05);//bandwidth 10Hz, delay 14 mS
-    write_reg(ADDRESS,MPU6050_SMPLRT_DIV,0x04);//sample rate 200Hz (1000/5)
+    write_reg(ADDRESS,MPU6050_CONFIG,0x02);//2 - bandwidth 94Hz, delay 3 mS; 3 - bandwidth 44Hz, delay 5 mS; 4 - bandwidth 21Hz, delay 8.5 mS; 5 - bandwidth 10Hz, delay 14 mS
+    write_reg(ADDRESS,MPU6050_SMPLRT_DIV,0x0);//sample rate 1000Hz (1000/5)
 }
 
 char MPU6050::getID(void)
@@ -34,7 +34,7 @@
         *gx = float(short(data[0] << 8 | data[1]))*1.526e-2; //deg/s
         *gy =  float(short(data[2] << 8 | data[3]))*1.526e-2;
         *gz =  float(short(data[4] << 8 | data[5]))*1.526e-2;
-        *ax = float(short(data2[0] << 8 | data2[1]))*5.9875e-4; //cm^2/s
+        *ax = float(short(data2[0] << 8 | data2[1]))*5.9875e-4; //cm/s^2
         *ay =  float(short(data2[2] << 8 | data2[3]))*5.9875e-4;
         *az =  float(short(data2[4] << 8 | data2[5]))*5.9875e-4;
         return true;