From 51dbea98591c547e73c2511f2339e35e4bd7ad48 Mon Sep 17 00:00:00 2001
From: santaimpersonator <36016723+santaimpersonator@users.noreply.github.com>
Date: Thu, 14 Mar 2019 15:51:13 -0600
Subject: [PATCH] Update gyro calibration implementation

*dmp_enable_feature* (**DMP_FEATURE_GYRO_CAL**) needs to be called in conjunction with **DMP_FEATURE_SEND_CAL_GYRO**
See: https://github.com/sparkfun/9DOF_Razor_IMU/blob/master/Libraries/Arduino/src/util/inv_mpu_dmp_motion_driver.c#L1090

Brought up by in this issue: https://github.com/sparkfun/9DOF_Razor_IMU/issues/10
Tested to work.
---
 Firmware/_9DoF_Razor_M0_Firmware/_9DoF_Razor_M0_Firmware.ino | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Firmware/_9DoF_Razor_M0_Firmware/_9DoF_Razor_M0_Firmware.ino b/Firmware/_9DoF_Razor_M0_Firmware/_9DoF_Razor_M0_Firmware.ino
index 74c5e55..cf041dc 100644
--- a/Firmware/_9DoF_Razor_M0_Firmware/_9DoF_Razor_M0_Firmware.ino
+++ b/Firmware/_9DoF_Razor_M0_Firmware/_9DoF_Razor_M0_Firmware.ino
@@ -323,6 +323,7 @@ bool initIMU(void)
   {
     // Gyro calibration re-calibrates the gyro after a set amount
     // of no motion detected
+    dmpFeatureMask |= DMP_FEATURE_GYRO_CAL;
     dmpFeatureMask |= DMP_FEATURE_SEND_CAL_GYRO;
   }
   else