Understanding DMP Gyro Values

[abeta201]

To the I2CDev community,

I am having trouble understanding the units of the MPU6050::dmpGetGyro() functions from the MPU6050_6Axis_MotionApps20.h file in the MPU6050 library (I can't find any documentation for the functions). It seems that these functions do not output raw integers like the MPU6050::getMotion6() function in the main library. In fact, I have figured out empirically that the dmpGetGyro(VectorInt16 *v, const uint8_t* packet) function outputs integers in degrees/second when the gyro range is the default of +/- 2000 deg/sec, but I would like a precision greater than 1 degree/second, and I cannot find out how to convert the 16 bit dmpGetGyro(int16_t *data, const uint8_t* packet) values to deg/second. Furthermore, if I change the gyro range (and therefore also the sensitivity), the readings change, and I need to know how to convert my readings at each sensitivity. My question is similar to this unanswered one from stack overflow.

Thank you so much for your response.