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Changing Range of accelerometer and Gyroscope

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Sorry if this has already been asked but I have not found the solution yet.


I am trying to change the accelerometer from +-2 to +-4 and the gyroscope and change to sensitivity of the gyroscope to +-1000dps.


I am using the code i downloaded from Github:

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation// is used in I2Cdev.h
#include "Wire.h"

// I2Cdev and MPU9150 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"
#include "MPU9150.h"
#include "helper_3dmath.h"

// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for InvenSense evaluation board)
// AD0 high = 0x69
MPU9150 accelGyroMag;

int16_t ax, ay, az;
int16_t gx, gy, gz;
int16_t mx, my, mz;

#define LED_PIN 13
bool blinkState = false;

void setup() {
    // join I2C bus (I2Cdev library doesn't do this automatically)

    // initialize serial communication
    // (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
    // it's really up to you depending on your project)

    // initialize device
    Serial.println("Initializing I2C devices...");

    // verify connection
    Serial.println("Testing device connections...");
    Serial.println(accelGyroMag.testConnection() ? "MPU9150 connection successful" : "MPU9150 connection failed");

    // configure Arduino LED for
    pinMode(LED_PIN, OUTPUT);

void loop() {
    // read raw accel/gyro/mag measurements from device
    accelGyroMag.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);

    // these methods (and a few others) are also available
    //accelGyroMag.getAcceleration(&ax, &ay, &az);
    //accelGyroMag.getRotation(&gx, &gy, &gz);

    // display tab-separated accel/gyro/mag x/y/z values
  Serial.print(ax); Serial.print("\t");
  Serial.print(ay); Serial.print("\t");
  Serial.print(az); Serial.print("\t");
  Serial.print(gx); Serial.print("\t");
  Serial.print(gy); Serial.print("\t");
  Serial.print(gz); Serial.print("\t");
 //  Serial.print(int(mx)*int(mx)); Serial.print("\t");
 //   Serial.print(int(my)*int(my)); Serial.print("\t");
 //   Serial.print(int(mz)*int(mz)); Serial.print("\t | ");

    const float N = 256;
    float mag = mx*mx/N + my*my/N + mz*mz/N;

 //   Serial.print(mag); Serial.print("\t");
 //   for (int i=0; i<mag; i++)
 //       Serial.print("*");

    // blink LED to indicate activity
    blinkState = !blinkState;
    digitalWrite(LED_PIN, blinkState);

I know that this might be basic, but could someone please help, Thank you.

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You should call this functions once:


You can put them at the end of setup().

Check out MPU9150.cpp for detailed description and more useful functions.


BTW This is MPU6050 topic, so this should be theoretically  moved to MPU9150.

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