Acc / Gyro range setting

[mrmks]

Hello,
I'd like to set higher maximum acceleration and gyro ranges.

I'm looking crazyflie-firmware/src/drivers/src/mpu6050.c
Right now,

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MPU6050_GCONFIG_FS_SEL_BIT = 4

and

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MPU6050_GCONFIG_FS_SEL_LENGTH = 2

It looks like I just need to change one of these values to 3 for the gyro, but which one is it?
I'm looking at the

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mpu6050GetFullScaleGyroRangeId()

Also, how about changing the max range for the accelerometer?

[tobias]

The rangers are defined here. As of really resent the ranges was set to maximum the MPU9250 supports (2000 deg/s and 16g).