From 212da151a6efbee6caaff028a7bd13e1dfedfb34 Mon Sep 17 00:00:00 2001
From: Luca Erbetta <luca.erbetta105@gmail.com>
Date: Sun, 31 Mar 2019 15:33:16 +0200
Subject: [PATCH] [MPU9255] 16g FSR
---
src/shared/Sensors/MPU9255.cpp | 4 +++-
src/shared/Sensors/MPU9255.h | 5 +++--
2 files changed, 6 insertions(+), 3 deletions(-)
diff --git a/src/shared/Sensors/MPU9255.cpp b/src/shared/Sensors/MPU9255.cpp
index 6089e4e..71c11a0 100644
--- a/src/shared/Sensors/MPU9255.cpp
+++ b/src/shared/Sensors/MPU9255.cpp
@@ -27,11 +27,13 @@ bool MPU9255::init()
{
bool result = true;
i2cInit();
+ Thread::sleep(10);
+
if (!i2cReadIDTest())
{
return false;
}
- axelInit(AFS_4G); // inizializzo l'acceleromerto
+ axelInit(AFS_16G); // inizializzo l'acceleromerto
tempInit();
result = result && gyroInit(GFS_2000DPS); // inizializzo il giroscopio
configPassThrough(); // Necessario per accedere direttamente al
diff --git a/src/shared/Sensors/MPU9255.h b/src/shared/Sensors/MPU9255.h
index d642b39..3ad3ea6 100644
--- a/src/shared/Sensors/MPU9255.h
+++ b/src/shared/Sensors/MPU9255.h
@@ -174,11 +174,12 @@ private:
bool initialized = false;
// CALIBRATION VALUES
- const float sensor_fsr = 32767.0;
+ const float sensor_fsr = 32768.0f;
// ACCELEROMETER
const float axel_x_offset = 0; // offset in g, it's to be filled by hand
const float axel_y_offset = 0; // offset in g, it's to be filled by hand
- const float axel_z_offset = 0.11; // offset in g, it's to be filled by hand
+ const float axel_z_offset = 0; // offset in g, it's to be filled by hand
+
// GYROSCOPE
const float gyro_x_offset = 0; // default offset in LSB, it will be
// overwritten at every start, with the new
--
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