Diff: MPU9250.h

Revision:

2:18835f8732ad

Parent:

0:43d21d5145d3

--- a/MPU9250.h	Thu Apr 19 01:54:55 2018 +0000
+++ b/MPU9250.h	Wed Jun 20 04:59:45 2018 +0000
@@ -659,18 +659,19 @@
    selfTest[5] = readByte(MPU9250_ADDRESS, SELF_TEST_Z_GYRO); // Z-axis gyro self-test results
 
   // Retrieve factory self-test value from self-test code reads
-   factoryTrim[0] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[0] - 1.0) )); // FT[Xa] factory trim calculation
-   factoryTrim[1] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[1] - 1.0) )); // FT[Ya] factory trim calculation
-   factoryTrim[2] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[2] - 1.0) )); // FT[Za] factory trim calculation
-   factoryTrim[3] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[3] - 1.0) )); // FT[Xg] factory trim calculation
-   factoryTrim[4] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[4] - 1.0) )); // FT[Yg] factory trim calculation
-   factoryTrim[5] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[5] - 1.0) )); // FT[Zg] factory trim calculation
+  // Modify by Happ
+   factoryTrim[0] = (float)(2620/1<<FS)*(pow( 1.01f , ((float)selfTest[0] - 1.0f) )); // FT[Xa] factory trim calculation
+   factoryTrim[1] = (float)(2620/1<<FS)*(pow( 1.01f , ((float)selfTest[1] - 1.0f) )); // FT[Ya] factory trim calculation
+   factoryTrim[2] = (float)(2620/1<<FS)*(pow( 1.01f , ((float)selfTest[2] - 1.0f) )); // FT[Za] factory trim calculation
+   factoryTrim[3] = (float)(2620/1<<FS)*(pow( 1.01f , ((float)selfTest[3] - 1.0f) )); // FT[Xg] factory trim calculation
+   factoryTrim[4] = (float)(2620/1<<FS)*(pow( 1.01f , ((float)selfTest[4] - 1.0f) )); // FT[Yg] factory trim calculation
+   factoryTrim[5] = (float)(2620/1<<FS)*(pow( 1.01f , ((float)selfTest[5] - 1.0f) )); // FT[Zg] factory trim calculation
  
  // Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response
  // To get percent, must multiply by 100
    for (int i = 0; i < 3; i++) {
-     destination[i] = 100.0*((float)(aSTAvg[i] - aAvg[i]))/factoryTrim[i]; // Report percent differences
-     destination[i+3] = 100.0*((float)(gSTAvg[i] - gAvg[i]))/factoryTrim[i+3]; // Report percent differences
+     destination[i] = 100.0f*((float)(aSTAvg[i] - aAvg[i]))/factoryTrim[i]; // Report percent differences
+     destination[i+3] = 100.0f*((float)(gSTAvg[i] - gAvg[i]))/factoryTrim[i+3]; // Report percent differences
    }
    
 }