With 6.12, Accel factor is 16384 @ 1g leading to errors in dmpGetLinearAccel

[BjornGu]

I was on this issue for quite a while ago, at that time complaining that dmpGetLinearAccel() didn't work with 6.12. Can't find whether I managed to submit an issue or not at that time, apparently not.

Taking a deeper look I now find that with 6.12 getAccel returns twice the value compared to before, while dmpGetLinearAccel() still compensates for gravity using 8192 for 1g.

So dmpGetLinearAccel() should instead use 16384, or even better take the selected acceleration scale factor into consideration.

The latter is actually a question as I have yet to understand whether it is generally OK to change gyro and accel scale factor settings while using the "dmp-calls"? I've seen that 2000 degs/s and +/- 2 g is intentionally set in the init code.

Regards,
BjornGu