mpu_scale.py

dps = 250.0 # Based on chip settings
d2r = 3.14159265359 / 180.0

gyro_scale = dps / 32767.5 * d2r
gyro_x = np.array(gyro_x) * gyro_scale
gyro_y = np.array(gyro_y) * gyro_scale
gyro_z = np.array(gyro_z) * gyro_scale

ar = 2.0 # Based on chip settings
acc_scale = 9.807 * ar / 32767.5
acc_x = np.array(acc_x) * acc_scale
acc_y = np.array(acc_y) * acc_scale
acc_z = np.array(acc_z) * acc_scale

mag_factory_x = 177
mag_factory_y = 179
mag_factory_z = 167

mag_scale_x = ((float(mag_factory_x) - 128.0) / 256.0 + 1.0) * 4912.0 / 32760.0
mag_scale_y = ((float(mag_factory_y) - 128.0) / 256.0 + 1.0) * 4912.0 / 32760.0
mag_scale_z = ((float(mag_factory_z) - 128.0) / 256.0 + 1.0) * 4912.0 / 32760.0

mag_x = np.array(mag_x) * mag_scale_x
mag_y = np.array(mag_y) * mag_scale_y
mag_z = np.array(mag_z) * mag_scale_z