Would like to know how to reduce the sensitivity of my arduimu v3?
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Would like to know how to reduce the sensitivity of my arduimu v3?
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You can change the range of the MPU by setting the right register bytes during the MPU configuration.
In the MPU6000.h header file you find:
#define BITS_FS_250DPS 0x00 // range of +-250 °/s
#define BITS_FS_500DPS 0x08 // range of +-500 °/s
#define BITS_FS_1000DPS 0x10 // ...
#define BITS_FS_2000DPS 0x18
Add the following lines for the accelerometer range:
#define BITS_FS_2G 0x00 // range of +- 2g
#define BITS_FS_4G 0x08 // range of +- 4g
#define BITS_FS_8G 0x10 // ...
#define BITS_FS_16G 0x18
In the original arduimu 1.9 code the range is set to +-4g and 2000°/s. Change the code at
the MPU6000_Init method where you find:
MPU6000_SPI_write(MPUREG_GYRO_CONFIG,BITS_FS_2000DPS); // Gyro scale 2000º/s
MPU6000_SPI_write(MPUREG_ACCEL_CONFIG,0x08); // Accel scale 4g (4096LSB/g)
Change to:
MPU6000_SPI_write(MPUREG_GYRO_CONFIG,BITS_FS_250DPS); // Gyro scale 250°/s
MPU6000_SPI_write(MPUREG_ACCEL_CONFIG,BITS_FS_2G); // Accel scale 2g
When you have changed the scale the next step is to change the equivalent sensitivity for the analog output of the sensors.
gyros:
± 250 °/s = 131 LSB/°/s
± 500 °/s = 65.5 LSB/°/s
± 1000 °/s = 32.8 LSB/°/s
± 2000 °/s = 16.4 LSB/°/s
accelerometer:
±2g = 16384 LSB/g
±4g = 8192 LSB/g
±8g = 4096 LSB/g
±16g = 2048 LSB/g
In the main arduimu code you find:
// MPU6000 4g range => g = 4096
#define GRAVITY 4096 // This equivalent to 1G in the raw data coming from the accelerometer
// MPU6000 sensibility (theorical 0.0152 => 1/65.6LSB/deg/s at 500deg/s) (theorical 0.0305 => 1/32.8LSB/deg/s at 1000deg/s) ( 0.0609 => 1/16.4LSB/deg/s at 2000deg/s)
#define Gyro_Gain_X 0.0609
#define Gyro_Gain_Y 0.0609
#define Gyro_Gain_Z 0.0609
Look at the MPU manual p. 14,15 and p. 30/32 for more details.