From ee90a5d9c73d6442e42d1760d1e0ff1f8f70b81c Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 29 Aug 2015 16:33:27 +0200
Subject: [PATCH] MPU6K: Switch to 16g range to deal with vibration

---
 ROMFS/px4fmu_common/init.d/rc.sensors | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index f547d02cb2..ef9e086f1e 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -24,7 +24,7 @@ then
 	fi
 
 	# external MPU6K is rotated 180 degrees yaw
-	if mpu6000 -X -R 4 start
+	if mpu6000 -X -R 4 -a 16 start
 	then
 		set BOARD_FMUV3 true
 	else
@@ -44,7 +44,7 @@ then
 		fi
 
 		# internal MPU6000 is rotated 180 deg roll, 270 deg yaw
-		if mpu6000 -R 14 start
+		if mpu6000 -R 14 -a 16 start
 		then
 		fi
 
@@ -54,7 +54,7 @@ then
 
 	else
 		# FMUv2
-		if mpu6000 start
+		if mpu6000 -a 16 start
 		then
 		fi