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Added sensor orientation matrix

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- set the matrix in mpu6050.c according to sensor installation
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EmanuelFeru
2020-02-23 14:54:34 +01:00
parent 7a8071df61
commit 0f3bd3f7d9
2 changed files with 46 additions and 6 deletions
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2
Inc/mpu6050.h
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@@ -122,6 +122,8 @@ int mpu_run_self_test(long *gyro, long *accel);
int mpu_run_6500_self_test(long *gyro, long *accel, unsigned char debug);
void mpu_start_self_test(void);
void mpu_setup_gyro(void);
unsigned short inv_row_2_scale(const signed char *row);
unsigned short inv_orientation_matrix_to_scalar(const signed char *mtx);
/* MPU configuration */
int mpu_config(void);