From 11d419161b99bddde65f32d8b744dd4f22866ac3 Mon Sep 17 00:00:00 2001 From: Lucas De Marchi Date: Thu, 9 Mar 2017 17:14:59 -0800 Subject: [PATCH] mpu6500: switch driver to 16G range All the other drivers use 16G, do the same for MPU6500. --- src/drivers/mpu6500/mpu6500.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/drivers/mpu6500/mpu6500.cpp b/src/drivers/mpu6500/mpu6500.cpp index 73bcab2cb2..f12c610cb6 100644 --- a/src/drivers/mpu6500/mpu6500.cpp +++ b/src/drivers/mpu6500/mpu6500.cpp @@ -159,7 +159,7 @@ #define BIT_INT_STATUS_DATA 0x01 -#define MPU6500_ACCEL_DEFAULT_RANGE_G 8 +#define MPU6500_ACCEL_DEFAULT_RANGE_G 16 #define MPU6500_ACCEL_DEFAULT_RATE 1000 #define MPU6500_ACCEL_MAX_OUTPUT_RATE 280 #define MPU6500_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30 @@ -753,7 +753,7 @@ int MPU6500::reset() _gyro_range_scale = (0.0174532 / 16.4);//1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F); _gyro_range_rad_s = (2000.0f / 180.0f) * M_PI_F; - set_accel_range(8); + set_accel_range(MPU6500_ACCEL_DEFAULT_RANGE_G); usleep(1000);