MPU-9250 gyro sensitivity

Other Hardware Sensors
1

Hi,
I'm building a fast autonomous robot car. I want to detect when the car is starting to turn,so I can reduce speed.
I thinking of using MPU-9250 (Sparkfun) I have. I don't have enough technical background to understand all the parameters. what is the best way to configure the chip (I copy it from example)

imu.setSensors(INV_XYZ_GYRO | INV_XYZ_ACCEL );
imu.setGyroFSR(2000);
imu.setAccelFSR(2);
imu.setLPF(5);
imu.setSampleRate(1000); //

I made some tests and I'm reading raw output from Z gyro and Z accelerometer
now I when then car is turning I get the max output of the Gyro (2000,-2000) and regarding the accelerometer I didn't see a "good" value to exploit it, so for the meanwhile I want only to use the gyro.

  1. what value do I need to setup the LPF (low pass filter) for my setup (1000 per sencond)? (5hz ? 188hz?)
  2. How can I reduce the sensitivity of the gyro? so not most of my readings will be with the MAX value?

Thanks

2

Look at the method setGyroFSR() in the sparkfun library for setting gyro full-scale reading.

However 2000 deg/s is the maximum, that's 330 rpm which is already really fast for steering turning rate.