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Update MPU9250.cpp #251

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Update MPU9250.cpp #251

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2 changes: 1 addition & 1 deletion src/utility/MPU9250.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -233,7 +233,7 @@ void MPU9250::calibrateMPU9250(float * gyroBias, float * accelBias) {
delay(40); // accumulate 40 samples in 40 milliseconds = 480 bytes

// At end of sample accumulation, turn off FIFO sensor read
writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO
//writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO <--- disabling FIFO sensors cause the next line to return 0 for FIFO_COUNTH, causing divide-by-zero crash
readBytes(MPU9250_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count
fifo_count = ((uint16_t)data[0] << 8) | data[1];
packet_count = fifo_count / 12; // How many sets of full gyro and accelerometer data for averaging
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