From fc862d14e8deed55ac54f11abb1f31993a895226 Mon Sep 17 00:00:00 2001
From: sfncrp <carpitastefano@gmail.com>
Date: Thu, 17 Oct 2024 15:10:15 +0200
Subject: [PATCH] gravity value was correct

---
 src/MPU6050.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/MPU6050.cpp b/src/MPU6050.cpp
index 8f1c94e..81a3332 100644
--- a/src/MPU6050.cpp
+++ b/src/MPU6050.cpp
@@ -3415,7 +3415,7 @@ void MPU6050_Base::PID(uint8_t ReadAddress, float kP,float kI, uint8_t Loops){
 	int16_t eSample;
 	uint32_t eSum;
 	uint16_t gravity = 8192; // prevent uninitialized compiler warning
-	if (ReadAddress == 0x3B) gravity = 32768 >> getFullScaleAccelRange();
+	if (ReadAddress == 0x3B) gravity = 16384 >> getFullScaleAccelRange();
 	Serial.write('>');
 	for (int i = 0; i < 3; i++) {
 		I2Cdev::readWords(devAddr, SaveAddress + (i * shift), 1, (uint16_t *)&Data, I2Cdev::readTimeout, wireObj); // reads 1 or more 16 bit integers (Word)