Diff: JJ_MPU6050_DMP_6Axis.h

Revision:

11:96a82e638330

Parent:

9:37a883451bf1

--- a/JJ_MPU6050_DMP_6Axis.h	Wed Oct 12 05:03:38 2016 +0000
+++ b/JJ_MPU6050_DMP_6Axis.h	Tue Oct 18 20:41:44 2016 +0000
@@ -271,8 +271,14 @@
     //0x07,   0x46,   0x01,   0x9A,                     // CFG_GYRO_SOURCE inv_send_gyro
     //0x07,   0x47,   0x04,   0xF1, 0x28, 0x30, 0x38,   // CFG_9 inv_send_gyro -> inv_construct3_fifo
     //0x07,   0x6C,   0x04,   0xF1, 0x28, 0x30, 0x38,   // CFG_12 inv_send_accel -> inv_construct3_fifo
-    0x02,   0x16,   0x02,   0x00, 0x00                // D_0_22 inv_set_fifo_rate // Original 0x01
+    0x02,   0x16,   0x02,   0x00, 0x01                // D_0_22 inv_set_fifo_rate // Original 0x01
 
+    // This very last 0x01 WAS a 0x09, which drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz,
+    // 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very noisy data.
+    // DMP output frequency is calculated easily using this equation: (200Hz / (1 + value))
+
+    // It is important to make sure the host processor can keep up with reading and processing
+    // the FIFO output at the desired rate. Handling FIFO overflow cleanly is also a good idea.
     // DMP output frequency is calculated easily using this equation: (200Hz / (1 + value))
 
     // It is important to make sure the host processor can keep up with reading and processing