How to get actual g-force values?

[BJPatriotRacing]

Thanks for the library, it's very complete.

I'm using a Teensy 4.0 with normal and working connections. The unit seems to be working fine and reporting data with the MPU6050_raw example.

I'm looking at the value for getAccelerationZ and it's reporting 16072 (unit z is pointing up). If I smack the unit i can get a max of just over 32000--This makes sense since the datatype is an int16.

However, how do I get g force? If 16,384 is 1 g, then this unit can only report up to 2 g's (accel/16384).

Here's my code.

#include "I2Cdev.h"
#include "MPU6050.h"
#include "Wire.h"

MPU6050 accelgyro;

int16_t ax, ay, az;
int16_t gx, gy, gz;

elapsedMillis Timer;

void setup() {

Wire.begin();

Serial.begin(38400);

accelgyro.initialize();

accelgyro.setFullScaleGyroRange((MPU6050_IMU::MPU6050_GYRO_FS_1000));
accelgyro.setFullScaleAccelRange((MPU6050_IMU::MPU6050_ACCEL_FS_16));

//accelgyro.CalibrateGyro(); // Fine tune after setting offsets with less Loops.
//accelgyro.CalibrateAccel(); // Fine tune after setting offsets with less Loops.
}

void loop() {

Serial.print(accelgyro.getAccelerationX());
Serial.print(",");
Serial.print(accelgyro.getAccelerationY());
Serial.print(",");
Serial.println(accelgyro.getAccelerationZ());
delay(10);
}

Thoughs?