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Revision 1:a823f3d5217c, committed 2020-11-16
- Comitter:
- momoa
- Date:
- Mon Nov 16 10:41:58 2020 +0000
- Parent:
- 0:98a0cccbc509
- Commit message:
- roll no drift ga sugoi ploglam;
Changed in this revision
MPU9250.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/MPU9250.cpp Tue Jul 05 07:09:43 2016 +0000 +++ b/MPU9250.cpp Mon Nov 16 10:41:58 2020 +0000 @@ -3,6 +3,8 @@ #define Kp 2.0f * 5.0f // these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral #define Ki 0.0f + + //****************************************************************************** MPU9250::MPU9250(PinName sda, PinName scl) { @@ -197,6 +199,7 @@ // Set gyroscope full scale range // Range selects FS_SEL and AFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3 + Gscale = GFS_500DPS; uint8_t c = readByte(MPU9250_ADDRESS, GYRO_CONFIG); writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3]