Understanding MPU 6050 calibrated values

[gabriela.perry]

Hello

 

I have calibrated my accelerometer using Luis Rodena's script, and edited the example from the Jeff Rowberg's MPU lib (MPU_6050_DMP6)  accordingly (using the offsets).

 

After some time, the following values are given, for "OUTPUT_READABLE_REALACCEL" (This acceleration reference frame is not compensated for orientation, so +X is always +X according to the sensor, just without the effects of gravity):

 

areal    -7    -1    12
areal    0    1    10
areal    -2    0    12
areal    -2    0    14
areal    -6    -1    10

 

My question is: what is the unit of this output? Is it 2g? So, for example, the first X acceleration output in m/s^2 would be -7(9,8*2)

I havent´t changed any of the scale or sensibility parameteres of the mpu, neither moved it while calibrating or printing those values (it was still on a flat surface).

 

Thank you for your time.

[Unique]

These are raw values that you get from the sensor. To get the actual acceleration values you have to apply the conversion from raw to processed data for acceleration. It's usually a constant division. For example, you have to divide the values by 856 to get the actual acceleration values (856 was just an example). You have to refer to your sensor's configurations and find that number. It is the acceleration sensitivity. The higher, the more sensitive it is!