fixed gyro calibration for F4
@@ -442,8 +442,12 @@ while ( time - timestart < CAL_TIME && time - timemax < 15e6 )
lastlooptime = time;
if ( looptime == 0 ) looptime = 1;
+#ifdef F0
i2c_readdata( 67 , data , 6 );
-
+#endif
+#ifdef F405
+ MPU6XXX_read_data( 67 , data , 6 );
+#endif
gyro[1] = (int16_t) ((data[0]<<8) + data[1]);
gyro[0] = (int16_t) ((data[2]<<8) + data[3]);
