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fix(mpu6050): use correct variables #648

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Jul 16, 2024
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fix(mpu6050): use correct variables #648

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9 changes: 4 additions & 5 deletions components/mpu6050/mpu6050.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1226,10 +1226,9 @@ esp_err_t mpu6050_calibrate(mpu6050_dev_t *dev, float *accel_bias_res, float *gy
{
CHECK_ARG(dev && accel_bias_res && gyro_bias_res);

int16_t temp_offset[3];
int32_t accel_bias[3] = { 0, 0, 0 };
int32_t gyro_bias[3] = { 0, 0, 0 };
int32_t accel_bias_reg[3] = { 0, 0, 0 };
int16_t accel_bias_reg[3] = { 0, 0, 0 };
uint16_t accel_temp[3] = { 0, 0, 0 };
uint16_t gyro_temp[3] = { 0, 0, 0 };
uint8_t mask_bit[3] = { 0, 0, 0 };
Expand Down Expand Up @@ -1359,9 +1358,9 @@ esp_err_t mpu6050_calibrate(mpu6050_dev_t *dev, float *accel_bias_res, float *gy
*/

// Read factory accelerometer trim values:
CHECK(mpu6050_get_accel_offset(dev, MPU6050_X_AXIS, &(temp_offset[0])));
CHECK(mpu6050_get_accel_offset(dev, MPU6050_Y_AXIS, &(temp_offset[1])));
CHECK(mpu6050_get_accel_offset(dev, MPU6050_Z_AXIS, &(temp_offset[2])));
CHECK(mpu6050_get_accel_offset(dev, MPU6050_X_AXIS, &accel_bias_reg[0]));
CHECK(mpu6050_get_accel_offset(dev, MPU6050_Y_AXIS, &accel_bias_reg[1]));
CHECK(mpu6050_get_accel_offset(dev, MPU6050_Z_AXIS, &accel_bias_reg[2]));

for (int i = 0; i < 3; i++)
{
Expand Down
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