Kamper

Same issue here. After: (MPU6050.ccp) void MPU6050::initialize() { setClockSource(MPU6050_CLOCK_PLL_XGYRO); setFullScaleGyroRange(MPU6050_GYRO_FS_250); setFullScaleAccelRange(MPU6050_ACCEL_FS_2); setSleepEnabled(false); // thanks to Jack Elston for pointing this one out! } ... * <pre> * AFS_SEL | Full Scale Range | LSB Sensitivity * --------+------------------+---------------- * 0 | +/- 2g | 8192 LSB/mg * 1 | +/- 4g | 4096 LSB/mg * 2 | +/- 8g | 2048 LSB/mg * 3 | +/- 16g | 1024 LSB/mg * </pre> So the MPU6050_6Axis_MotionApps20.h expands... uint8_t MPU6050::dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity) { // get rid of the gravity component (+1g = +8192 in standard DMP FIFO packet, sensitivity is 2g) v -> x = vRaw -> x - gravity -> x*8192; v -> y = vRaw -> y - gravity -> y*8192; v -> z = vRaw -> z - gravity -> z*8192; return 0; } But the MPU 6050 Product Specification says: If the values are queried with the Rowberg-Skript, they are to low. But if I divide the "output_readable_realaccel" aaReal by 8192 instead 16384 it seems to be correct. How to fix it correctly? Sorry for take up the old topic, but its pretty confusing.