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Diff: MPU6050.cpp
- Revision:
- 6:b4f5edf825be
- Parent:
- 5:f806657f0009
- Child:
- 7:1f92801f7b0f
--- a/MPU6050.cpp Sat Sep 16 13:24:05 2017 +0000 +++ b/MPU6050.cpp Sun Nov 18 10:24:23 2018 +0000 @@ -31,12 +31,12 @@ char data2[6]; if (read_data(ADDRESS, MPU6050_GYRO_XOUT_H, data, 6)) { read_data(ADDRESS, MPU6050_ACCEL_XOUT_H, data2, 6); - *gx = float(short(data[0] << 8 | data[1]))*1.526e-2/2; //deg/s - *gy = float(short(data[2] << 8 | data[3]))*1.526e-2/2; - *gz = float(short(data[4] << 8 | data[5]))*1.526e-2/2; - *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; + *gx = float(short(data[0] << 8 | data[1]))*2.663e-4/2; //rad/s + *gy = float(short(data[2] << 8 | data[3]))*2.663e-4/2; + *gz = float(short(data[4] << 8 | data[5]))*2.663e-4/2; + *ax = float(short(data2[0] << 8 | data2[1]))*5.9875e-6; //m/s^2 + *ay = float(short(data2[2] << 8 | data2[3]))*5.9875e-6; + *az = float(short(data2[4] << 8 | data2[5]))*5.9875e-6; return true; } return false;