@@ -67,66 +67,57 @@ A Raspberry Pi driver for MPU9250. Ensure that the pigpio daemon is running bef
#### Parameters
***`~/i2c_bus`** (int, default: 1)
The I2C bus to communicate with the MPU9250 over.
***`~/i2c_bus`** (int, default: 1)
The I2C bus to communicate with the MPU9250 over.
***`~/i2c_address`** (int, default: 0x68)
The I2C address of the MPU9250.
***`~/interrupt_gpio_pin`** (int, default: 0)
The GPIO input pin connected to the MPU9250's interrupt pin.
***`~/gyro_dlpf_frequency`** (int, default: 0)
An enum value representing the digital low pass filter (DLPF) cutoff frequency for the gyroscopes.
NOTE: The publishing rate of Imu, MagneticField, and Temperature messages will be approximately 2.5x the gyro OR accel DLPF frequency (whichever is larger).
Enumerated Values:
250Hz = 0
184Hz = 1
92Hz = 2
41Hz = 3
20Hz = 4
10Hz = 5
5Hz = 6
***`~/accel_dlpf_frequency`** (int, default: 0)
An enum value representing the digital low pass filter (DLPF) cutoff frequency for the accelerometers.
NOTE: The publishing rate of Imu, MagneticField, and Temperature messages will be approximately 2.5x the gyro OR accel DLPF frequency (whichever is larger).
Enumerated Values:
460Hz = 0
184Hz = 1
92Hz = 2
41Hz = 3
20Hz = 4
10Hz = 5
5Hz = 6
***`~/gyro_fsr`** (int, default: 0)
The full scale range (FSR) of the gyroscopes.
Enumerated Values:
+/- 250deg/sec = 0
+/- 500deg/sec = 1
+/- 1000deg/sec = 2
+/- 2000deg/sec = 3
***`~/accel_fsr`** (int, default: 0)
The full scale range (FSR) of the accelerometers.
Enumerated Values:
+/- 2g = 0
+/- 4g = 1
+/- 8g = 2
+/- 16g = 3
***`~/max_data_rate`** (float, default: 8000)
The maximum allowable sensor data rate, in Hz. Data rate is normally calculated as half of the accel/gyro DLPF frequency (nyquist criterion). This parameter allows maximum cap on the data rate, regardless of the DLPF frequency.
The I2C address of the MPU9250.
***`~/interrupt_gpio_pin`** (int, default: 0)
The GPIO input pin connected to the MPU9250's interrupt pin. **NOTE:**[You must use GPIO numbers, not pin numbers.](http://abyz.me.uk/rpi/pigpio/index.html#Type_3)
***`~/gyro_dlpf_frequency`** (int, default: 0)
An enum value representing the digital low pass filter (DLPF) cutoff frequency for the gyroscopes.
NOTE: The publishing rate of Imu, MagneticField, and Temperature messages will be approximately 2.5x the gyro OR accel DLPF frequency (whichever is larger).
Enumerated Values:
250Hz = 0
184Hz = 1
92Hz = 2
41Hz = 3
20Hz = 4
10Hz = 5
5Hz = 6
***`~/accel_dlpf_frequency`** (int, default: 0)
An enum value representing the digital low pass filter (DLPF) cutoff frequency for the accelerometers.
NOTE: The publishing rate of Imu, MagneticField, and Temperature messages will be approximately 2.5x the gyro OR accel DLPF frequency (whichever is larger).
Enumerated Values:
460Hz = 0
184Hz = 1
92Hz = 2
41Hz = 3
20Hz = 4
10Hz = 5
5Hz = 6
***`~/gyro_fsr`** (int, default: 0)
The full scale range (FSR) of the gyroscopes.
Enumerated Values:
+/- 250deg/sec = 0
+/- 500deg/sec = 1
+/- 1000deg/sec = 2
+/- 2000deg/sec = 3
***`~/accel_fsr`** (int, default: 0)
The full scale range (FSR) of the accelerometers.
Enumerated Values:
+/- 2g = 0
+/- 4g = 1
+/- 8g = 2
+/- 16g = 3
***`~/max_data_rate`** (float, default: 8000)
The maximum allowable sensor data rate, in Hz. Data rate is normally calculated as half of the accel/gyro DLPF frequency (nyquist criterion). This parameter allows maximum cap on the data rate, regardless of the DLPF frequency.
