Comments (4)
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Thanks Mr. Winer
But do you mean that it is supported in MPU6050 but not recommended? The calibrateMPU6050 method is pushing them to registers as shown below. If this works, then it seems there is no need to subtract them from accel and gyro data.
Please consider removing this part if it is not supported in MPU6050 to prevent confusion.
` // Push gyro biases to hardware registers
writeByte(MPU6050_ADDRESS, XG_OFFS_USRH, data[0]);// might not be supported in MPU6050
writeByte(MPU6050_ADDRESS, XG_OFFS_USRL, data[1]);
writeByte(MPU6050_ADDRESS, YG_OFFS_USRH, data[2]);
writeByte(MPU6050_ADDRESS, YG_OFFS_USRL, data[3]);
writeByte(MPU6050_ADDRESS, ZG_OFFS_USRH, data[4]);
writeByte(MPU6050_ADDRESS, ZG_OFFS_USRL, data[5]);
// Push accelerometer biases to hardware registers
writeByte(MPU6050_ADDRESS, XA_OFFSET_H, data[0]); // might not be supported in MPU6050
writeByte(MPU6050_ADDRESS, XA_OFFSET_L_TC, data[1]);
writeByte(MPU6050_ADDRESS, YA_OFFSET_H, data[2]);
writeByte(MPU6050_ADDRESS, YA_OFFSET_L_TC, data[3]);
writeByte(MPU6050_ADDRESS, ZA_OFFSET_H, data[4]);
writeByte(MPU6050_ADDRESS, ZA_OFFSET_L_TC, data[5]);`
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from mpu6050.
Thanks Mr. Winer.
I could find a document which confirms the MPU6050 has the hardware offset registers.
https://www.digikey.com/en/pdf/i/invensense/mpu-hardware-offset-registers
I would verify which works, thanks again.
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