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Merge pull request #21 from DTan13/patch-1
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Replaced constant 50 with samples
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jarzebski authored May 18, 2023
2 parents 6617360 + e41f00a commit abaa149
Showing 1 changed file with 3 additions and 3 deletions.
6 changes: 3 additions & 3 deletions MPU6050.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -569,9 +569,9 @@ void MPU6050::calibrateGyro(uint8_t samples)
dg.ZAxis = sumZ / samples;

// Calculate threshold vectors
th.XAxis = sqrt((sigmaX / 50) - (dg.XAxis * dg.XAxis));
th.YAxis = sqrt((sigmaY / 50) - (dg.YAxis * dg.YAxis));
th.ZAxis = sqrt((sigmaZ / 50) - (dg.ZAxis * dg.ZAxis));
th.XAxis = sqrt((sigmaX / samples) - (dg.XAxis * dg.XAxis));
th.YAxis = sqrt((sigmaY / samples) - (dg.YAxis * dg.YAxis));
th.ZAxis = sqrt((sigmaZ / samples) - (dg.ZAxis * dg.ZAxis));

// If already set threshold, recalculate threshold vectors
if (actualThreshold > 0)
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