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koenkooi / multiwii-firmware

Firmware - GitHub mirror of the official SVN multiwii project
https://github.com/multiwii/multiwii-firmware/wiki
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MPU6050 accuracy #7

Open koenkooi opened 10 years ago

koenkooi commented 10 years ago

Reading through the multiwii forum I came across this:

http://www.multiwii.com/forum/viewtopic.php?f=7&t=3880

The MPU6050 is being used in low-accuracy mode because multiwii was designed for Wii sensors. Sebastion has a patch:

https://github.com/sebastianherp/multiwii-firmware/commit/03b3d8a976855d7b54c3eb71729e4fecc0a8f40a

The multiwii internals have been reworked, so it doesn't apply anymore, but I think the two improvements are worth investigating. Reading all values in one go should be straightforward, the range and divider changes will need some considerations.

gromain commented 10 years ago

Looks like everything is happening around here https://github.com/koenkooi/multiwii-firmware/blob/flexbot-quad/Sensors.cpp#L1365 for the gyro, and here https://github.com/koenkooi/multiwii-firmware/blob/flexbot-quad/Sensors.cpp#L1390 for the acc. The value doesn't get changed afterwards.

gromain commented 10 years ago

And the calibration is happening here https://github.com/koenkooi/multiwii-firmware/blob/flexbot-quad/Sensors.cpp#L328 for the gyro and here https://github.com/koenkooi/multiwii-firmware/blob/flexbot-quad/Sensors.cpp#L398 for the acc. (Just so I'm not looking for them afterwards).