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MPU6K self-test: Be more forgiving on offset values

This commit is contained in:
Lorenz Meier 2015-07-11 22:08:36 +02:00
parent fc5b8ee12d
commit 614c397762
1 changed files with 6 additions and 2 deletions
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8
src/drivers/mpu6000/mpu6000.cpp
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@ -913,10 +913,14 @@ MPU6000::gyro_self_test()
/*
* Maximum deviation of 20 degrees, according to
* http://www.invensense.com/mems/gyro/documents/PS-MPU-6000A-00v3.4.pdf
* http://www.farnell.com/datasheets/1788002.pdf
* Section 6.1, initial ZRO tolerance
*
* 20 dps (0.34 rad/s) initial offset
* and 20 dps temperature drift, so 0.34 rad/s * 2
*/
const float max_offset = 0.34f;
const float max_offset = 2.0f * 0.34f;
/* 30% scale error is chosen to catch completely faulty units but
* to let some slight scale error pass. Requires a rate table or correlation
* with mag rotations + data fit to