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fixed resolution #90

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merged 2 commits into from
Nov 1, 2024
Merged

fixed resolution #90

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a06c1b9
fixed resolution
stefcarpi Oct 17, 2024
fc862d1
gravity value was correct
stefcarpi Oct 17, 2024
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24 changes: 12 additions & 12 deletions src/MPU6050.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,10 +66,10 @@ void MPU6050_Base::initialize() {
setClockSource(MPU6050_CLOCK_PLL_XGYRO);

setFullScaleGyroRange(MPU6050_GYRO_FS_250);
gyroscopeResolution = 250.0 / 16384.0;
gyroscopeResolution = 250.0 / 32768.0;

setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
accelerationResolution = 2.0 / 16384.0;
accelerationResolution = 2.0 / 32768.0;

setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
}
Expand All @@ -92,54 +92,54 @@ void MPU6050_Base::initialize(ACCEL_FS accelRange, GYRO_FS gyroRange) {
{
case ACCEL_FS::A2G:
setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
accelerationResolution = 2.0 / 16384.0;
accelerationResolution = 2.0 / 32768.0;
break;

case ACCEL_FS::A4G:
setFullScaleAccelRange(MPU6050_ACCEL_FS_4);
accelerationResolution = 4.0 / 16384.0;
accelerationResolution = 4.0 / 32768.0;
break;

case ACCEL_FS::A8G:
setFullScaleAccelRange(MPU6050_ACCEL_FS_8);
accelerationResolution = 8.0 / 16384.0;
accelerationResolution = 8.0 / 32768.0;
break;

case ACCEL_FS::A16G:
setFullScaleAccelRange(MPU6050_ACCEL_FS_16);
accelerationResolution = 16.0 / 16384.0;
accelerationResolution = 16.0 / 32768.0;
break;
default:
Serial.println("Init accelRange not valid, setting maximum accel range");
setFullScaleAccelRange(MPU6050_ACCEL_FS_16);
accelerationResolution = 16.0 / 16384.0;
accelerationResolution = 16.0 / 32768.0;
}

switch (gyroRange)
{
case GYRO_FS::G250DPS:
setFullScaleGyroRange(MPU6050_GYRO_FS_250);
gyroscopeResolution = 250.0 / 16384.0;
gyroscopeResolution = 250.0 / 32768.0;
break;

case GYRO_FS::G500DPS:
setFullScaleGyroRange(MPU6050_GYRO_FS_500);
gyroscopeResolution = 500.0 / 16384.0;
gyroscopeResolution = 500.0 / 32768.0;
break;

case GYRO_FS::G1000DPS:
setFullScaleGyroRange(MPU6050_GYRO_FS_1000);
gyroscopeResolution = 1000.0 / 16384.0;
gyroscopeResolution = 1000.0 / 32768.0;
break;

case GYRO_FS::G2000DPS:
setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
gyroscopeResolution = 2000.0 / 16384.0;
gyroscopeResolution = 2000.0 / 32768.0;
break;
default:
Serial.println("Init gyroRange not valid, setting maximum gyro range");
setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
gyroscopeResolution = 2000.0 / 16384.0;
gyroscopeResolution = 2000.0 / 32768.0;
}

setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
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