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Various minor fixes and improvements across system

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This commit is contained in:
Lorenz Meier
2012-09-05 18:05:11 +02:00
parent 84e11a0cac
commit db6ec2d7d2
7 changed files with 89 additions and 56 deletions
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apps/drivers/mpu6000/mpu6000.cpp
+4 -2
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@@ -369,8 +369,10 @@ MPU6000::init()
write_reg(MPUREG_SMPLRT_DIV, 0x04); // Sample rate = 200Hz Fsample= 1Khz/(4+1) = 200Hz
usleep(1000);
// FS & DLPF FS=2000 deg/s, DLPF = 98Hz (low pass filter)
write_reg(MPUREG_CONFIG, BITS_DLPF_CFG_98HZ);
// FS & DLPF FS=2000 deg/s, DLPF = 20Hz (low pass filter)
// was 90 Hz, but this ruins quality and does not improve the
// system response
write_reg(MPUREG_CONFIG, BITS_DLPF_CFG_20HZ);
usleep(1000);
// Gyro scale 2000 deg/s ()
write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS);