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MPU6000: Increase gyro offset tolerance to 7 dps

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This commit is contained in:
Johan Jansen
2015-01-26 14:22:36 +01:00
committed by Lorenz Meier
parent 9cc94fcb2d
commit 9c627255cc
1 changed files with 5 additions and 4 deletions
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src/drivers/mpu6000/mpu6000.cpp
+5 -4
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@@ -921,18 +921,18 @@ MPU6000::gyro_self_test()
if (self_test())
return 1;
/* evaluate gyro offsets, complain if offset -> zero or larger than 6 dps */
if (fabsf(_gyro_scale.x_offset) > 0.1f || fabsf(_gyro_scale.x_offset) < 0.000001f)
/* evaluate gyro offsets, complain if offset -> zero or larger than 7 dps */
if (fabsf(_gyro_scale.x_offset) > 0.12f || fabsf(_gyro_scale.x_offset) < 0.000001f)
return 1;
if (fabsf(_gyro_scale.x_scale - 1.0f) > 0.3f)
return 1;
if (fabsf(_gyro_scale.y_offset) > 0.1f || fabsf(_gyro_scale.y_offset) < 0.000001f)
if (fabsf(_gyro_scale.y_offset) > 0.12f || fabsf(_gyro_scale.y_offset) < 0.000001f)
return 1;
if (fabsf(_gyro_scale.y_scale - 1.0f) > 0.3f)
return 1;
if (fabsf(_gyro_scale.z_offset) > 0.1f || fabsf(_gyro_scale.z_offset) < 0.000001f)
if (fabsf(_gyro_scale.z_offset) > 0.12f || fabsf(_gyro_scale.z_offset) < 0.000001f)
return 1;
if (fabsf(_gyro_scale.z_scale - 1.0f) > 0.3f)
return 1;
@@ -941,6 +941,7 @@ MPU6000::gyro_self_test()
}
/*
perform a self-test comparison to factory trim values. This takes
about 200ms and will return OK if the current values are within 14%