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Adjust the resolution sensitivity constant #98

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Merged
sabas1080 merged 1 commit into from
Jun 24, 2025
Merged

Adjust the resolution sensitivity constant #98

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22 changes: 11 additions & 11 deletions src/MPU6050.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -332,21 +332,21 @@ void MPU6050_Base::setFullScaleGyroRange(uint8_t range) {

switch(range) {
case MPU6050_GYRO_FS_250:
gyroscopeResolution = 250.0 / 16384.0;
gyroscopeResolution = 250.0 / 32768.0;
break;
case MPU6050_GYRO_FS_500:
gyroscopeResolution = 500.0 / 16384.0;
gyroscopeResolution = 500.0 / 32768.0;
break;
case MPU6050_GYRO_FS_1000:
gyroscopeResolution = 1000.0 / 16384.0;
gyroscopeResolution = 1000.0 / 32768.0;
break;
case 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");
range = MPU6050_GYRO_FS_2000;
gyroscopeResolution = 2000.0 / 16384.0;
gyroscopeResolution = 2000.0 / 32768.0;
break;
}

Expand Down Expand Up @@ -487,21 +487,21 @@ void MPU6050_Base::setFullScaleAccelRange(uint8_t range) {

switch(range) {
case MPU6050_ACCEL_FS_2:
accelerationResolution = 2.0 / 16384.0;
accelerationResolution = 2.0 / 32768.0;
break;
case MPU6050_ACCEL_FS_4:
accelerationResolution = 4.0 / 16384.0;
accelerationResolution = 4.0 / 32768.0;
break;
case MPU6050_ACCEL_FS_8:
accelerationResolution = 8.0 / 16384.0;
accelerationResolution = 8.0 / 32768.0;
break;
case 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");
range = MPU6050_ACCEL_FS_16;
accelerationResolution = 16.0 / 16384.0;
accelerationResolution = 16.0 / 32768.0;
break;
}

Expand Down Expand Up @@ -3445,7 +3445,7 @@ 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 = 16384 >> getFullScaleAccelRange();
if (ReadAddress == 0x3B) gravity = 32768 >> 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)
Expand Down