From 3f756b1b18457187e8a2e578d052e559b60c4dbb Mon Sep 17 00:00:00 2001
From: David Wehr <dawehr@iastate.edu>
Date: Sun, 5 Mar 2017 10:54:03 -0600
Subject: [PATCH] Adjusted IMU biases to match recorded data

---
 quad/sw/modular_quad_pid/src/iic_mpu9150_utils.h | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/quad/sw/modular_quad_pid/src/iic_mpu9150_utils.h b/quad/sw/modular_quad_pid/src/iic_mpu9150_utils.h
index 3c9907933..f93b7686b 100644
--- a/quad/sw/modular_quad_pid/src/iic_mpu9150_utils.h
+++ b/quad/sw/modular_quad_pid/src/iic_mpu9150_utils.h
@@ -89,13 +89,13 @@
 // Sensitivity gain is based off MPU9150 datasheet (pg. 11)
 #define GYRO_SENS 16.4
 
-#define GYRO_X_BIAS	0.005f
-#define GYRO_Y_BIAS	-0.014f
-#define GYRO_Z_BIAS	0.045f
+#define GYRO_X_BIAS	0.0085f
+#define GYRO_Y_BIAS	-0.0063f
+#define GYRO_Z_BIAS	0.0475f
 
-#define ACCEL_X_BIAS	0.023f
-#define ACCEL_Y_BIAS	0.009f
-#define ACCEL_Z_BIAS	0.087f
+#define ACCEL_X_BIAS	0.044f
+#define ACCEL_Y_BIAS	-0.0045f
+#define ACCEL_Z_BIAS	-0.008f
 
 // Initialize hardware; Call this FIRST before calling any other functions
 int initI2C0();
-- 
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