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Fixes MPU6500 not being detected on Arduino Nano ESP32 #120

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Fixes MPU6500 not being detected on Arduino Nano ESP32 #120

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4 changes: 2 additions & 2 deletions src/imu/MPUXXXX/MPUXXXX.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,8 +68,8 @@ int MPUXXXX::begin(MPU_Type type, SensorDevice *dev, int gyro_scale_dps, int acc
Serial.printf("IMU: WARNING: MPU60X0 whoami mismatch, got:0x%02X expected:0x68, attempting autodetect\n",wai);
_type = AUTO;
}
if(_type == MPU6500 && wai != 0x70) {
Serial.printf("IMU: WARNING: MPU6500 whoami mismatch, got:0x%02X expected:0x70, attempting autodetect\n",wai);
if(_type == MPU6500 && (wai != 0x70 && wai != 0x30)) {
Serial.printf("IMU: WARNING: MPU6500 whoami mismatch, got:0x%02X expected:0x70 or 0x30, attempting autodetect\n",wai);
_type = AUTO;
}
if(_type == MPU9150 && wai != 0x68) {
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