From db6ec2d7d2c8f206208f6bd3b6534422fd80eaef Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 5 Sep 2012 18:05:11 +0200 Subject: Various minor fixes and improvements across system --- apps/drivers/mpu6000/mpu6000.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) (limited to 'apps/drivers') diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp index ad4976bc2..7b8a84f7e 100644 --- a/apps/drivers/mpu6000/mpu6000.cpp +++ b/apps/drivers/mpu6000/mpu6000.cpp @@ -369,8 +369,10 @@ MPU6000::init() write_reg(MPUREG_SMPLRT_DIV, 0x04); // Sample rate = 200Hz Fsample= 1Khz/(4+1) = 200Hz usleep(1000); - // FS & DLPF FS=2000 deg/s, DLPF = 98Hz (low pass filter) - write_reg(MPUREG_CONFIG, BITS_DLPF_CFG_98HZ); + // FS & DLPF FS=2000 deg/s, DLPF = 20Hz (low pass filter) + // was 90 Hz, but this ruins quality and does not improve the + // system response + write_reg(MPUREG_CONFIG, BITS_DLPF_CFG_20HZ); usleep(1000); // Gyro scale 2000 deg/s () write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS); -- cgit v1.2.3