Hello,
I looked through the forum and didn't see this question, but if this is a dup please just point me in the correct direction.
I'm writing a self-test for the MPU-6050 and I'm not clear on exactly what the datasheet means.
Where it says "SelfTest Response = Gyroscope Output with Self-Test Enabled - Gyroscope Output with Self-Test Disabled" does it mean take a measurement from the GYRO_[XYZ]OUT_[HL] registers or from the SELF_TEST_[XYZA] registers? I assumed, based on the datasheet (and the fact that I always get the same values from the SELF_TEST_[XYZA] registers), that it meant read from the GYRO_[XYZ]OUT_[HL] register after/before setting the self-test bits, but since I've seen implementations online both ways and the fact that I'm getting some negative "SelfTest Response" values it has me questioning which way is correct.
What could negative "SelfTest Response" values mean? Or are they fine?
Assuming it does mean the GYRO_[XYZ]OUT_[HL] registers is there a recommend number of samples to take? I'm taking 300, but that's not based on anything.
Does the position of the sensor matter when running self-tests?
Thanks!