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Merge branch 'master' of github.com:juliangaal/mpu6050

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juliangaal 2019-04-23 18:24:24 +02:00
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@ -23,6 +23,11 @@ fn main() -> Result<(), Error<LinuxI2CError>> {
let mut mpu = Mpu6050::new(i2c, delay); let mut mpu = Mpu6050::new(i2c, delay);
mpu.init()?; mpu.init()?;
mpu.soft_calib(100)?;
mpu.calc_variance(50)?;
println!("Calibrated with bias: {:?}", mpu.get_bias().unwrap());
println!("Calculated variance: {:?}", mpu.get_variance().unwrap());
loop { loop {
// get roll and pitch estimate // get roll and pitch estimate