Fixed error wuth parsing in read_FIFO

emlid · Dec 4, 2015 · 0eda2ff · 0eda2ff
1 parent 485b500
commit 0eda2ff
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/C++/Navio/MPU9250.cpp b/C++/Navio/MPU9250.cpp
@@ -484,7 +484,7 @@ uint8_t MPU9250::read_FIFO(float *acc_values, float *gyro_values) {
  for (j = 0; j < 3; j++) {
  data_acc[3*i+j] = ((int16_t)response[sample_size*i+2*j] << 8) | response[sample_size*i+2*j+1];
  acc_values[3*i+j] = (float)data_acc[3*i+j] / acc_divider;
- data_gyro[3*i+j] = ((int16_t)response[sample_size*i+2*j] << 8) | response[sample_size*i+2*j+1];
+ data_gyro[3*i+j] = ((int16_t)response[sample_size*i+2*j+6] << 8) | response[sample_size*i+2*j+7];
  gyro_values[3*i+j] = (float)data_gyro[3*i+j] / gyro_divider;
  }
  }