Hello,
I am using the Motion Driver 5.1.3 with the MPU-6500, thus restricting to the DMP-based routines only. The run_self_test() function converts the returned gyro bias value returned into +-1000dps, and the returned accel bias values to +-16G. Are there (potentially two) errors with this?
1. The gyro max FSR for the MPU-6500 is 2000dps. So shouldn't the returned gyro bias values from the run_self_test() also be converted to +-2000dps, instead of the current 1000dps?
2. On the flip side, InvenSense have previously written to say the DMP currently only supports +-2000DPS and +-2G FSRs. Does this mean the accel bias values that are set with mpu_set_accel_bias_6500_reg(const long *accel_bias) should be converted to +-2G instead?
3. Something else I have noticed is that within inv_mpu.c file, the 'const struct test_s test' structure holds .gyro_sens and .accel_sens at their smallest FSR's, i.e. as 32768/250 and 32768/2 respectively. What's the reasoning behind this?
I'd be grateful for clarifications. Thanks.