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AP_InertialSensor: switched to 16g accel range for MPU9250

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this matches the Pixhawk, and makes us less prone to vibration. We
have seen clipping at 8g
This commit is contained in:
Andrew Tridgell 2015-04-28 15:29:41 +10:00
parent 4311cd4e7a
commit 007b01533d
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
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@ -24,8 +24,8 @@
extern const AP_HAL::HAL& hal;
// MPU6000 accelerometer scaling
#define MPU9250_ACCEL_SCALE_1G (GRAVITY_MSS / 4096.0f)
// MPU9250 accelerometer scaling for 16g range
#define MPU9250_ACCEL_SCALE_1G (GRAVITY_MSS / 2048.0f)
#define MPUREG_XG_OFFS_TC 0x00
#define MPUREG_YG_OFFS_TC 0x01
@ -454,8 +454,8 @@ bool AP_InertialSensor_MPU9250::_hardware_init(void)
_register_write(MPUREG_SMPLRT_DIV, MPUREG_SMPLRT_1000HZ);
_register_write(MPUREG_GYRO_CONFIG, BITS_GYRO_FS_2000DPS); // Gyro scale 2000º/s
// RM-MPU-9250A-00.pdf, pg. 15, select accel full scale 8g
_register_write(MPUREG_ACCEL_CONFIG,2<<3);
// RM-MPU-9250A-00.pdf, pg. 15, select accel full scale 16g
_register_write(MPUREG_ACCEL_CONFIG,3<<3);
// configure interrupt to fire when new data arrives
_register_write(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN);