GYRO_CONFIG

[gaopeng-sheng]

First, you have done a great job. Recently I have played with MPU6050 and your code really helps me a lot. Thank you very much.
But as I follow the code line by line, I perhaps find something wrong.

bus.write_byte_data(DeviceAddress, GYRO_CONFIG, 24)

In the line, you define the register of GYRO_CONFIG as 24 ( 24 = 0001 1000 ). And we can find the register GYRO_CONFIG on page 14 in the register map document. So with 0001 1000, we know the bit 3 and bit 4 are both 1. That is to say FS_SEL = 3. As I know, it means that you choose a Full Scale Range of +-2000 deg/s.
Now, we can see on page 31, with a Full Scale Range of +-2000 deg/s, the LSB sensitivity should be 16.4LSB/s.

But in your code, I see this. gyroXRate = gyroX/131 gyroYRate = gyroY/131
Should this be like that? gyroXRate = gyroX/16.4 gyroYRate = gyroY/16.4

[rocheparadox]

@Gaops , Thanks for the compliment. It means a lot. I was hooked with up with something else and this message of yours was overlooked. Sorry for that.

I think you are right. I will verify the math once again with the documents and update the code ASAP.
Thanks for taking your time to report this. Cheers!