diff options
| -rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp | 9 |
1 files changed, 5 insertions, 4 deletions
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 168b34ea9..81d156af1 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -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% |