- Posts: 1
- Joined: Tue Apr 16, 2019 10:56 am
Code: Select all
#define MAG_GAUSS_PER_LSB 666.7f
#define SENSORS_GYRO_FS_CFG MPU6500_GYRO_FS_2000
sensorData.mag.x = (float)headingx / MAG_GAUSS_PER_LSB;
sensorData.mag.y = (float)headingy / MAG_GAUSS_PER_LSB;
sensorData.mag.z = (float)headingz / MAG_GAUSS_PER_LSB;
I search the datasheet of the AK8963 and find the 16bit ADC sensitivity is 0.15μT/LSB. I think the output equal "ADC value * sensitivity"
which equal "headingx / (1/0.15) = headingx / 6.667"
- Posts: 1880
- Joined: Mon Jan 28, 2013 7:17 pm
- Location: Sweden
You might be on to something. I think this code originally comes from somewhere else so can't really answer why it is 666.7. I guess it hasn't caused a problem as it normally is the heading that is interesting.