Hi,
We are using MPU9150's DMP gyro calibration (dmp_enable_gyro_cal) to enable the automatic gyro calibration by DMP. It works fine (the gyro drift is very small).
However, if our robot is rotating very slowly (Z axis), the automatic gyro calibration suddenly takes place WITH movement.
QUESTION: How can we reduce the threshold for the 'no-motion' trigger needed by the automatic DMP gyro calibration? (we need the automatic gyro calibration feature ON because we cannot use a compass with our motors)
Thanks,
Alexander
---excerpt of the Motion Library function we use---
int dmp_enable_gyro_cal(unsigned char enable)
{
if (enable) {
unsigned char regs[9] = {0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35, 0x5d};
return mpu_write_mem(CFG_MOTION_BIAS, 9, regs);
} else {
unsigned char regs[9] = {0xb8, 0xaa, 0xaa, 0xaa, 0xb0, 0x88, 0xc3, 0xc5, 0xc7};
return mpu_write_mem(CFG_MOTION_BIAS, 9, regs);
}
}