X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_mpu6000.h;h=6aada9a927b9ac8da07165667fdab817cfb3b951;hb=1ed6b13e87c1cc2d6618b6ba3a293ea6e3b5752e;hp=ab36d6f27aeacf801aeec6fe943bfea5dc84ab70;hpb=39c5738acdfdf0c87b64de6135fe107971cfa12b;p=fw%2Faltos diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h index ab36d6f2..6aada9a9 100644 --- a/src/drivers/ao_mpu6000.h +++ b/src/drivers/ao_mpu6000.h @@ -145,6 +145,9 @@ /* Self test gyro is approximately 50°/s */ #define MPU6000_ST_GYRO(full_scale) ((int16_t) (((int32_t) 32767 * (int32_t) 50) / (full_scale))) +#define MPU6000_GYRO_FULLSCALE 2000 +#define MPU6000_ACCEL_FULLSCALE 16 + struct ao_mpu6000_sample { int16_t accel_x; int16_t accel_y;