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kriswiner / MPU9150

Arduino sketch for MPU9150 9DoF with AHRS sensor fusion
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mRes is wrong? #7

Open yang614 opened 8 years ago

yang614 commented 8 years ago

Hi,Kriswiner

The mRes = 10.*1229./4096. is 3 , the comment says // Conversion from 1229 microTesla full scale (4096) to 12.29 Gauss full scale //actually has no change because 1T=10^4G .

I read the datasheet ,I think the mRes should be 1229./4096. not 10.*1229./4096. or tell me where I have the misunderstanding.

kriswiner commented 8 years ago

The 10 converts microTesla to milliGauss, which I prefer.

-----Original Message----- From: yang614 [mailto:notifications@github.com] Sent: July 13, 2016 11:21 PM To: kriswiner/MPU-9150 Subject: [kriswiner/MPU-9150] mRes is wrong? (#7)

Hi,Kriswiner

The mRes = 10.*1229./4096. is 3 , the comment says // Conversion from 1229 microTesla full scale (4096) to 12.29 Gauss full scale //actually has no change .

I read the datasheet ,I think the mRes should be 1229./4096. not 10.*1229./4096. or tell me where I have the misunderstanding.

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yang614 commented 8 years ago

Ok, I see . and I have another question where is the " conform to expected bias input format" in calibrateMPU9150(float * dest1, float * dest2) ?? I cant find it in the datasheet.

kriswiner commented 8 years ago

Consult the data sheet.

-----Original Message----- From: yang614 [mailto:notifications@github.com] Sent: July 14, 2016 12:26 AM To: kriswiner/MPU-9150 Cc: Kris Winer; Comment Subject: Re: [kriswiner/MPU-9150] mRes is wrong? (#7)

Oh,I see I have another question is why set the gyro & acc FS_SEL 0 and divide the raw data by 4&8 instead of setting to 3 directly?

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kriswiner commented 8 years ago

There should be some discussion of the bias registers in the data sheet. In any case IIRC the data format is expected to be counts at 8 g full scale.

-----Original Message----- From: yang614 [mailto:notifications@github.com] Sent: July 14, 2016 12:49 AM To: kriswiner/MPU-9150 Cc: Kris Winer; Comment Subject: Re: [kriswiner/MPU-9150] mRes is wrong? (#7)

Ok, I see . and I have another question where is the " conform to expected bias input format" in calibrateMPU9150(float * dest1, float * dest2) ?? I cant find it from the datasheet.

You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/kriswiner/MPU-9150/issues/7#issuecomment-232589015 , or mute the thread https://github.com/notifications/unsubscribe/AGY1qt0xojYMa9OaY2Z1ql47_JkfII aiks5qVenrgaJpZM4JMHgU . https://github.com/notifications/beacon/AGY1qtJdGQTYAInRYD3FWcC4PB5T2Fmmks5 qVenrgaJpZM4JMHgU.gif