Successful acro and level mode now! Relying on MPU9250 as base sensor. I'm working continuously on tuning and features :) NEWEST VERSION ON: https://github.com/MaEtUgR/FlyBed (CODE 100% compatible/copyable)
Diff: IMU/MPU9250/MPU9250.cpp
- Revision:
- 4:b2efa7f03701
- Parent:
- 3:3709be130495
- Child:
- 5:8ea99e98de73
diff -r 3709be130495 -r b2efa7f03701 IMU/MPU9250/MPU9250.cpp --- a/IMU/MPU9250/MPU9250.cpp Thu Sep 10 17:10:11 2015 +0000 +++ b/IMU/MPU9250/MPU9250.cpp Thu Sep 10 22:02:51 2015 +0000 @@ -38,7 +38,7 @@ int16_t offsetGyro[3] = {-31, -15, -11}; // TODO: make better calibration for (int i = 0; i < 3; i++) - Gyro[i] = (rawGyro[i] - offsetGyro[i])*0.07; // subtract offset from calibration and multiply unit factor to get degree per second (datasheet p.10) + Gyro[i] = (rawGyro[i] - offsetGyro[i]) * 0.07 * 0.87; // subtract offset from calibration and multiply unit factor to get degree per second (datasheet p.10)