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/**
* @file rc_calibrate_gyro.c
* @example rc_calibrate_gyro
*
* @brief runs the mpu gyroscope calibration routine
*
* If the routine is successful, a new gyroscope calibration file
* will be saved which is loaded automatically the next time the MPU
* is used.
*
*
* @author James Strawson
* @date 1/29/2018
*/
#include <stdio.h>
#include <rc/mpu.h>
// bus for Robotics Cape and BeagleBone Blue is 2
// change this for your platform
#define I2C_BUS 2
int main()
{
printf("\nThis program will generate a new gyro calibration file\n");
printf("keep your board very still for this procedure.\n");
printf("Press any key to continue\n");
getchar();
printf("Starting calibration routine\n");
rc_mpu_config_t config = rc_mpu_default_config();
config.i2c_bus = I2C_BUS;
if(rc_mpu_calibrate_gyro_routine(config)<0){
printf("Failed to complete gyro calibration\n");
return -1;
}
printf("\ngyro calibration file written\n");
printf("run rc_test_mpu to check performance\n");
return 0;
}