Diff: MPU9250.h

Revision:

5:ea541d293095

Parent:

4:404c35f32ce3

--- a/MPU9250.h	Thu Sep 04 21:19:05 2014 +0000
+++ b/MPU9250.h	Mon Sep 08 21:50:33 2014 +0000
@@ -217,8 +217,6 @@
 float GyroMeasDrift = PI * (1.0f / 180.0f);      // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
 float zeta = sqrt(3.0f / 4.0f) * GyroMeasDrift;  // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value
 
-float pitch, yaw, roll;
-float deltat = 0.0f;                             // integration interval for both filter schemes
 int lastUpdate = 0, firstUpdate = 0, Now = 0;    // used to calculate integration interval                               // used to calculate integration interval
 float eInt[3] = {0.0f, 0.0f, 0.0f};              // vector to hold integral error for Mahony method
 
@@ -616,7 +614,7 @@
 // Configure the accelerometer for self-test
         writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0xE0); // Enable self test on all three axes and set accelerometer range to +/- 2 g
         writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s
-        wait(25); // Delay a while to let the device stabilize
+        wait(2); // Delay a while to let the device stabilize
 
         for( int ii = 0; ii < 200; ii++) { // get average self-test values of gyro and acclerometer
 
@@ -639,7 +637,7 @@
 // Configure the gyro and accelerometer for normal operation
         writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00);
         writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00);
-        wait(25); // Delay a while to let the device stabilize
+        wait(2); // Delay a while to let the device stabilize
 
         // Retrieve accelerometer and gyro factory Self-Test Code from USR_Reg
         selfTest[0] = readByte(MPU9250_ADDRESS, SELF_TEST_X_ACCEL); // X-axis accel self-test results