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Fork of MPU6050-DMP-Ian by
Diff: MPU/inc/MPU6050_6Axis_MotionApps20.h
- Revision:
- 14:3f0bc381e1dd
- Parent:
- 13:b1b98e5c61df
diff -r b1b98e5c61df -r 3f0bc381e1dd MPU/inc/MPU6050_6Axis_MotionApps20.h --- a/MPU/inc/MPU6050_6Axis_MotionApps20.h Thu May 08 09:37:25 2014 +0000 +++ b/MPU/inc/MPU6050_6Axis_MotionApps20.h Tue May 27 09:21:09 2014 +0000 @@ -30,7 +30,7 @@ =============================================== */ -#include "tasks.h" +//#include "tasks.h" #ifndef _MPU6050_6AXIS_MOTIONAPPS20_H_ #define _MPU6050_6AXIS_MOTIONAPPS20_H_ @@ -305,7 +305,7 @@ 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, IMU_FIFO_RATE_DIVIDER // D_0_22 inv_set_fifo_rate + 0x02, 0x16, 0x02, 0x00, 0x01 // D_0_22 inv_set_fifo_rate // 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.