Running MPU6050 at 16g

[Johnny1010]

Hi everyone,

 

I wanted to ask that what changes do I need to make to the MPU6050_6Axis_MotionApps20.h file when running the sensor at 16g. Do I need to change the 16384 here to 2048.

uint8_t MPU6050::dmpGetQuaternion(Quaternion *q, const uint8_t* packet) {
    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
    int16_t qI[4];
    uint8_t status = dmpGetQuaternion(qI, packet);
    if (status == 0) {
        q -> w = (float)qI[0] / 16384.0f;
        q -> x = (float)qI[1] / 16384.0f;
        q -> y = (float)qI[2] / 16384.0f;
        q -> z = (float)qI[3] / 16384.0f;
        return 0;
    }
    return status; // int16 return value, indicates error if this line is reached
}

[pkav]

Only for raw acceleration values, not for quaternions calculation.