altos: Define full-scale gyro and accel values for MPU6000

[fw/altos] / src / drivers / ao_mpu6000.h

diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h
index ca76b08128ddc3888cb611f30a295b5f9cbdd6bc..5c0cee1b1184e02dcfdcf340e815ae3f4a75cac5 100644 (file)
--- 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;