From 614c397762eddb986242c81f2baabaf412c8a379 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 11 Jul 2015 22:08:36 +0200 Subject: [PATCH] MPU6K self-test: Be more forgiving on offset values --- src/drivers/mpu6000/mpu6000.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 9880544ecb..86fe334345 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -913,10 +913,14 @@ MPU6000::gyro_self_test() /* * Maximum deviation of 20 degrees, according to - * http://www.invensense.com/mems/gyro/documents/PS-MPU-6000A-00v3.4.pdf + * http://www.farnell.com/datasheets/1788002.pdf * Section 6.1, initial ZRO tolerance + * + * 20 dps (0.34 rad/s) initial offset + * and 20 dps temperature drift, so 0.34 rad/s * 2 */ - const float max_offset = 0.34f; + const float max_offset = 2.0f * 0.34f; + /* 30% scale error is chosen to catch completely faulty units but * to let some slight scale error pass. Requires a rate table or correlation * with mag rotations + data fit to