I've had an ITG3200 EVB working correctly with custom software. If I rotated the board from horizontal to vertical, my software reported the new angle to be 90 [deg] (as expected).
Using the original ITG3200 code as a baseline for the MPU6050, I updated the register information and gyro sensitivity to (16.4 rather than 14.375) for a +/- 2000 [deg/sec] setting of the MPU6050.
With the new MPU6050, the same motion test incorrectly reported an angle of ~79 [deg] rather than 90 [deg]. Noticing that 79/90 ~= 14.375/16.4, I tested the MPU6050 with the old gyro sensitivity of 14.375 and it worked. The horizontal to vertical test reported 90 [deg] as expected.
Does anyone know if the sensitivities in the data sheet (16.4 for +/-2000) are incorrect? This part is labelled as an 'ES'. Are their any other limitations to these Engineering Sample parts?
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