From c247d358dc6165059eff7fbae07baa676db1c69f Mon Sep 17 00:00:00 2001
From: sfncrp <carpitastefano@gmail.com>
Date: Mon, 7 Oct 2024 17:51:12 +0200
Subject: [PATCH] fixed initialize switch statements

---
 src/MPU6050.cpp | 18 +++++++++++++++++-
 1 file changed, 17 insertions(+), 1 deletion(-)

diff --git a/src/MPU6050.cpp b/src/MPU6050.cpp
index 957ec2c..c27f7a0 100644
--- a/src/MPU6050.cpp
+++ b/src/MPU6050.cpp
@@ -93,18 +93,26 @@ void MPU6050_Base::initialize(ACCEL_FS accelRange, GYRO_FS gyroRange) {
     case ACCEL_FS::A2G:
         setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
         accelerationResolution = 2.0 / 16384.0;
+	break;
 
     case ACCEL_FS::A4G:
         setFullScaleAccelRange(MPU6050_ACCEL_FS_4);
         accelerationResolution = 4.0 / 16384.0;
+	break;
 
     case ACCEL_FS::A8G:
         setFullScaleAccelRange(MPU6050_ACCEL_FS_8);
         accelerationResolution = 8.0 / 16384.0;
+	break;
 
     case ACCEL_FS::A16G:
         setFullScaleAccelRange(MPU6050_ACCEL_FS_16);
         accelerationResolution = 16.0 / 16384.0;
+	break;
+    default:
+      Serial.println("Init accelRange not valid, setting maximum accel range");
+      setFullScaleAccelRange(MPU6050_ACCEL_FS_16);
+      accelerationResolution = 16.0 / 16384.0;
     }
 
     switch (gyroRange) 
@@ -112,18 +120,26 @@ void MPU6050_Base::initialize(ACCEL_FS accelRange, GYRO_FS gyroRange) {
     case GYRO_FS::G250DPS:
         setFullScaleGyroRange(MPU6050_GYRO_FS_250);
         gyroscopeResolution = 250.0 / 16384.0;
+	break;
 
     case GYRO_FS::G500DPS:
         setFullScaleGyroRange(MPU6050_GYRO_FS_500);
         gyroscopeResolution = 500.0 / 16384.0;
+	break;
 
     case GYRO_FS::G1000DPS:
         setFullScaleGyroRange(MPU6050_GYRO_FS_1000);
         gyroscopeResolution = 1000.0 / 16384.0;
+	break;
 
     case GYRO_FS::G2000DPS:
         setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
         gyroscopeResolution = 2000.0 / 16384.0;
+	break;
+    default:
+      Serial.println("Init gyroRange not valid, setting maximum gyro range");
+      setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
+      gyroscopeResolution = 2000.0 / 16384.0;
     }
 
     setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
@@ -3475,4 +3491,4 @@ void MPU6050_Base::PrintActiveOffsets() {
     Serial.print((float)offsets[3], 5); Serial.print(",\t");
     Serial.print((float)offsets[4], 5); Serial.print(",\t");
     Serial.print((float)offsets[5], 5); Serial.print("\n\n");
-}
\ No newline at end of file
+}