From 3b69f67179910b899b8c22f0e9b527404a4659d9 Mon Sep 17 00:00:00 2001
From: Alex Mikhalev <alexmikhalevalex@gmail.com>
Date: Thu, 25 Apr 2019 18:27:22 -0700
Subject: [PATCH] run I2C at full freq

---
 main/ugv_io_mpu.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/main/ugv_io_mpu.cc b/main/ugv_io_mpu.cc
index 89bc931..b3015a0 100644
--- a/main/ugv_io_mpu.cc
+++ b/main/ugv_io_mpu.cc
@@ -43,7 +43,7 @@ void MPU::Init() {
   mpu_bus_ = &i2c1;
   // This is shared with the oled, so just use those pins
   mpu_bus_->setTimeout(10);
-  mpu_bus_->begin(MPU_SDA, MPU_SCL, 100000);
+  mpu_bus_->begin(MPU_SDA, MPU_SCL, 400000);
   mpu_ = new mpud::MPU(*mpu_bus_);
 
   esp_err_t ret;