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fixed bug in mpu6050 accel code
added mpu6050 acc scale factor fixup for es/non es chips (exposed as cli option as well) git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@191 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
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7 changed files with 1702 additions and 1693 deletions
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@ -35,7 +35,7 @@ void sensorsAutodetect(void)
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bool havel3g4200d = false;
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// Autodetect gyro hardware. We have MPU3050 or MPU6050.
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if (mpu6050Detect(&acc, &gyro)) {
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if (mpu6050Detect(&acc, &gyro, cfg.mpu6050_scale)) {
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// this filled up acc.* struct with init values
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haveMpu6k = true;
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} else if (l3g4200dDetect(&gyro)) {
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@ -59,7 +59,7 @@ retry:
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; // fallthrough
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case 2: // MPU6050
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if (haveMpu6k) {
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mpu6050Detect(&acc, &gyro); // yes, i'm rerunning it again. re-fill acc struct
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mpu6050Detect(&acc, &gyro, cfg.mpu6050_scale); // yes, i'm rerunning it again. re-fill acc struct
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accHardware = ACC_MPU6050;
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if (cfg.acc_hardware == ACC_MPU6050)
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break;
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