Revision 6:b4f5edf825be, committed 2018-11-18

Comitter:

dima285

Date:

Sun Nov 18 10:24:23 2018 +0000

Parent:

5:f806657f0009

Commit message:

plohoy ugol

Changed in this revision

diff -r f806657f0009 -r b4f5edf825be MPU6050.cpp
--- 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;