question about calibrateGyro() function

[JerrySOET]

void MPU6050::calibrateGyro(uint8_t samples)
{
    // Set calibrate
    useCalibrate = true;

    // Reset values
    float sumX = 0;
    float sumY = 0;
    float sumZ = 0;
    float sigmaX = 0;
    float sigmaY = 0;
    float sigmaZ = 0;

    // Read n-samples
    for (uint8_t i = 0; i < samples; ++i)
    {
    readRawGyro();
    sumX += rg.XAxis;
    sumY += rg.YAxis;
    sumZ += rg.ZAxis;

    sigmaX += rg.XAxis * rg.XAxis;
    sigmaY += rg.YAxis * rg.YAxis;
    sigmaZ += rg.ZAxis * rg.ZAxis;

    delay(5);
    }

    // Calculate delta vectors
    dg.XAxis = sumX / samples;
    dg.YAxis = sumY / samples;
    dg.ZAxis = sumZ / samples;

    // Calculate threshold vectors
    th.XAxis = sqrt((sigmaX / 50) - (dg.XAxis * dg.XAxis));
    th.YAxis = sqrt((sigmaY / 50) - (dg.YAxis * dg.YAxis));
    th.ZAxis = sqrt((sigmaZ / 50) - (dg.ZAxis * dg.ZAxis));

    // If already set threshold, recalculate threshold vectors
    if (actualThreshold > 0)
    {
    setThreshold(actualThreshold);
    }
}

the number 50 should be samples number?

[jarzebski]

yes - is fixed in master