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Don't calibrate gyro on start since MPU9250 library does that on begin

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This commit is contained in:
Oleg Kalachev 2024-01-19 05:05:49 +03:00
parent 9ad718cb85
commit c22961e5ff
1 changed files with 3 additions and 9 deletions
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12
flix/imu.ino
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@ -7,12 +7,12 @@
#include <MPU9250.h> #include <MPU9250.h>
#define IMU_CS_PIN 4 // chip-select pin for IMU SPI connection #define IMU_CS_PIN 4 // chip-select pin for IMU SPI connection
#define CALIBRATE_GYRO_ON_START true #define LOAD_GYRO_CAL false
MPU9250 IMU(SPI, IMU_CS_PIN); MPU9250 IMU(SPI, IMU_CS_PIN);
void setupIMU() { void setupIMU() {
Serial.println("Setup IMU"); Serial.println("Setup IMU, stand still");
auto status = IMU.begin(); auto status = IMU.begin();
if (status < 0) { if (status < 0) {
@ -22,12 +22,7 @@ void setupIMU() {
} }
} }
if (CALIBRATE_GYRO_ON_START) { if (LOAD_GYRO_CAL) loadGyroCal();
calibrateGyro();
} else {
loadGyroCal();
}
loadAccelCal(); loadAccelCal();
IMU.setSrd(0); // set sample rate to 1000 Hz IMU.setSrd(0); // set sample rate to 1000 Hz
@ -54,7 +49,6 @@ bool readIMU() {
void calibrateGyro() { void calibrateGyro() {
Serial.println("Calibrating gyro, stand still"); Serial.println("Calibrating gyro, stand still");
delay(500);
int status = IMU.calibrateGyro(); int status = IMU.calibrateGyro();
Serial.printf("Calibration status: %d\n", status); Serial.printf("Calibration status: %d\n", status);
IMU.setSrd(0); IMU.setSrd(0);