#define SWAP_16(a) ((( (a) & 0xff)<<8) | (( (a) >> 8) & 0xff))
-float mpu6050_gx;
-float mpu6050_gy;
-float mpu6050_gz;
+double mpu6050_gx;
+double mpu6050_gy;
+double mpu6050_gz;
-float mpu6050_ax;
-float mpu6050_ay;
-float mpu6050_az;
+double mpu6050_ax;
+double mpu6050_ay;
+double mpu6050_az;
-float mpu6050_mx;
-float mpu6050_my;
-float mpu6050_mz;
+double mpu6050_mx;
+double mpu6050_my;
+double mpu6050_mz;
-float mpu6050_temp;
+double mpu6050_temp;
int16_t drift_g[3] = {0, 0, 0};
values[i] = SWAP_16(values[i]);
}
- mpu6050_ax = 9.81 * (float)values[0] / accel_x_resolution ;
- mpu6050_ay = 9.81 * (float)values[1] / accel_y_resolution ;
- mpu6050_az = 9.81 * (float)values[2] / accel_z_resolution ;
+ mpu6050_ax = 9.81 * (double)values[0] / accel_x_resolution ;
+ mpu6050_ay = 9.81 * (double)values[1] / accel_y_resolution ;
+ mpu6050_az = 9.81 * (double)values[2] / accel_z_resolution ;
- mpu6050_temp = (float)values[3]/340. + 36.5;
+ mpu6050_temp = (double)values[3]/340. + 36.5;
- mpu6050_gx = ToRad((float)(values[4] - drift_g[0]) / gyro_x_resolution );
- mpu6050_gy = ToRad((float)(values[5] - drift_g[1]) / gyro_y_resolution );
- mpu6050_gz = ToRad((float)(values[6] - drift_g[2]) / gyro_z_resolution );
+ mpu6050_gx = ToRad((double)(values[4] - drift_g[0]) / gyro_x_resolution );
+ mpu6050_gy = ToRad((double)(values[5] - drift_g[1]) / gyro_y_resolution );
+ mpu6050_gz = ToRad((double)(values[6] - drift_g[2]) / gyro_z_resolution );
- mpu6050_mx = (float) values[7] * 0.3;
- mpu6050_my = (float) values[8] * 0.3;
- mpu6050_mz = (float) values[9] * 0.3;
+ mpu6050_mx = (double) values[7] * 0.3;
+ mpu6050_my = (double) values[8] * 0.3;
+ mpu6050_mz = (double) values[9] * 0.3;
return err;