Hi Bar,
The Gyroscope range for the MPU6050 sensor in MATLAB is currently fixed at +/-250 dps. However, there exists a workaround to unlock the full range, using custom code. For this, please follow these instructions:
1. Execute the following command in the MATLAB Command Window. This will change the current directory of MATLAB to the directory where sensor files are stored:
>> sensorpth = fullfile(matlabshared.supportpkg.getSupportPackageRoot,'toolbox','matlab','hardware','shared','sensors')
>> cd(sensorpth)
2. Replace the mpu6050.m file in the above location with the custom mpu6050.m file (attached here).
3. Execute the following commands in the command window :
>> clear classes
>> rehash toolboxcache
4. Now, to change Accelerometer and Gyroscope range from the default value, use the 'Name Value' pairs 'AccelerometerRange' and 'GyroscopeRange'. For example, to set the accelerometer range as +/-4g and gyroscope range as +/-500 dps, the mpu6050 object needs to be created as follows:
>> imu = mpu6050(a, 'AccelerometerRange', 4, 'GyroscopeRange', 500)
The arguments to this object creation can be decided based on the following notes:
AccelerometerRange: Full-scale acceleration range in 'g'.
Possible values : 2,4,8,16
Default: 2
GyroscopeRange: Full-scale angular velocity range in “degrees per seconds (dps)”.
Possible values: 250,500,1000,2000
Default : 250
This should help to resolve your issue.
Regards,
Prateek
