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Respected Sir, I got some data from accelerometer and gyrometer using MPU 6050 with arduino. But i am not able to interpret numerical values of it. Can you help me to figure out this information? here i am sending you some of data: Accelarometer Gyrometer Ax Ay Az Gx Gy Gz -6616 13880 -1380 915 -68 -49 -6624 13924 -1496 909 -41 -136 -6680 13896 -1408 917 -46 -148 -6636 13996 -1508 913 -35 -111 -6668 13896 -1616 902 -47 -47 -6716 13944 -1496 916 -43 -40 -6616 13972 -1412 879 -57 -5 -6584 13884 -1536 918 -47 -25 -6920 14192 -1584 892 -10 -164 -7792 15016 -1524 1022 -80 -68 -6928 14244 -1484 773 -112 261 -6396 13764 -1416 939 -72 112 -6636 14020 -1596 892 -43 -154 -6520 13836 -1524 946 4 -242 -6776 13916 -1552 926 8 -333 -6916 14008 -1568 891 -64 -54 -6592 13936 -1460 866 -113 216 Thanks.

I was under the impression that the default range for the MPU-6050 accelerometer was +/-2g, but after doing some datalogging I'm beginning to think that is only the case for the raw values (i.e. using MPU6050_raw.ino) and not true when using the DMP (i.e. using DMP6050_DMP6.ino). The values I obtained are half of what I believe they should be, leading me to believe that with DMP the default range is +/-4g. I found a line in MPU6050_6Axis_MotionApps20.h that only confuses me more: // get rid of the gravity component (+1g = +8192 in standard DMP FIFO packet, sensitivity is 2g) If the sensitivity is 2g, doesn't 1g = 16,384? Or am I reading the datasheet incorrectly? At this point I'm pretty confused and hopefully somebody can clear it all up for me...

Hello! I'm trying to log the acceleration measured by a MPU6050 on a GY-521 breakout board on a microSD card using a microSD shield made by Sparkfun. Because the MPU6050_DMP6 sketch from the MPU6050 library of Jeff Rowberg (also using his I2Cdev lib) and the dataLogger sketch from the SDfat library both worked very good (when runnning alone) i thought i could combine them to achieve my goal. I deleted the (for my use) unnecessary code and instead of printing the acceleration data to the serial monitor i print it to the logfile. But this is not working so great. The sketch stops working completely random. Sometimes it runs for a couple of minutes, sometimes only for a few seconds. When it freezes i have to reset the arduino and it runs again for some time. I just can't figure out what the problem is. Here is what i already tried: 1) check the connections SD shield is just put on top of the arduino MPU -> Arduino VCC -> 5V GND -> GND SCL -> Analog 5 SDA -> Analog 4 INT -> Digital 2 solder points look good 2) check memory usage don't remember the exact value but it was stable and there was enough free memory 3) a LOT of different approaches how to handle the data all with pretty much the same results, i will spare you the details because mostly it was "try and error" Here is the basic sketch i described: ///////////////////////////////////////////////////////////////////////////////// #define BUTTON_PIN 4 ///////////////////////////////////////////////////////////////////////////////// //////////////Includes, Constants and Objects for datalogging//////////////////// #include <SdFat.h> // SD chip select pin. Be sure to disable any other SPI devices such as Enet. const uint8_t chipSelect = 8; //#define LOG_ACC // Log file base name. Must be six characters or less. #define FILE_BASE_NAME "DATA" // Error messages stored in flash. #define error(msg) error_P(PSTR(msg)) // File system object. SdFat sd; // Log file. SdFile file; //Variable for collumn separation ************* char tab = ';'; ///////////////////////////////////////////////////////////////////////////////// //////////////////////Includes, Constants and Objects for MPU//////////////////// #include "I2Cdev.h" #include "MPU6050_6Axis_MotionApps20.h" //#define OUTPUT_READABLE_REALACCEL // Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation // is used in I2Cdev.h #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE #include "Wire.h" #endif // class default I2C address is 0x68 // specific I2C addresses may be passed as a parameter here // AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board) // AD0 high = 0x69 MPU6050 mpu; //MPU6050 mpu(0x69); // <-- use for AD0 high //#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6) bool blinkState = false; // MPU control/status vars bool dmpReady = false; // set true if DMP init was successful uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) uint16_t packetSize; // expected DMP packet size (default is 42 bytes) uint16_t fifoCount; // count of all bytes currently in FIFO uint8_t fifoBuffer[64]; // FIFO storage buffer // orientation/motion vars Quaternion q; // [w, x, y, z] quaternion container VectorInt16 aa; // [x, y, z] accel sensor measurements VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements VectorFloat gravity; // [x, y, z] gravity vector float euler[3]; // [psi, theta, phi] Euler angle container float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector // packet structure for InvenSense teapot demo uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' }; ///////////////////////////////////////////////////////////////////////////////// //////////////////////////////User functions///////////////////////////////////// //------------------------------------------------------------------------------ // Write data header. void writeHeader() { file.print(F("accel_X")); file.print(tab); file.print(F("accel_Y")); file.print(tab); file.print(F("accel_Z")); file.println(); } //------------------------------------------------------------------------------ // error messages void error_P(const char* msg) { sd.errorHalt_P(msg); } //------------------------------------------------------------------------------ // Interrupt detection volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high void dmpDataReady() { mpuInterrupt = true; } //------------------------------------------------------------------------------ // setup function void setup() { const uint8_t BASE_NAME_SIZE = sizeof(FILE_BASE_NAME) - 1; char fileName[13] = FILE_BASE_NAME "00.CSV"; Serial.begin(115200); //while (!Serial) {} // wait for Leonardo //delay(1000); pinMode(BUTTON_PIN, INPUT_PULLUP); Serial.println(F("Press Button to start")); while(digitalRead(BUTTON_PIN)) {} //wait for button // Initialize the SD card at SPI_HALF_SPEED to avoid bus errors with // breadboards. use SPI_FULL_SPEED for better performance. if (!sd.begin(chipSelect, SPI_FULL_SPEED)) sd.initErrorHalt(); // Find an unused file name. if (BASE_NAME_SIZE > 6) { error("FILE_BASE_NAME too long"); } while (sd.exists(fileName)) { if (fileName[BASE_NAME_SIZE + 1] != '9') { fileName[BASE_NAME_SIZE + 1]++; } else if (fileName[BASE_NAME_SIZE] != '9') { fileName[BASE_NAME_SIZE + 1] = '0'; fileName[BASE_NAME_SIZE]++; } else { error("Can't create file name"); } } if (!file.open(fileName, O_CREAT | O_WRITE | O_EXCL)) error("file.open"); do { delay(10); } while (Serial.read() >= 0); Serial.print(F("Logging to: ")); Serial.println(fileName); // Write data header. writeHeader(); // join I2C bus (I2Cdev library doesn't do this automatically) #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE Wire.begin(); TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz) #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE Fastwire::setup(400, true); #endif // initialize device Serial.println(F("Initializing I2C devices...")); mpu.initialize(); // verify connection Serial.println(F("Testing device connections...")); Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed")); // load and configure the DMP Serial.println(F("Initializing DMP...")); devStatus = mpu.dmpInitialize(); // supply your own gyro offsets here, scaled for min sensitivity mpu.setXGyroOffset(99); mpu.setYGyroOffset(-35); mpu.setZGyroOffset(67); mpu.setZAccelOffset(1106); // 1688 factory default for my test chip // make sure it worked (returns 0 if so) if (devStatus == 0) { // turn on the DMP, now that it's ready Serial.println(F("Enabling DMP...")); mpu.setDMPEnabled(true); // enable Arduino interrupt detection Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)...")); attachInterrupt(0, dmpDataReady, RISING); mpuIntStatus = mpu.getIntStatus(); // set our DMP Ready flag so the main loop() function knows it's okay to use it Serial.println(F("DMP ready! Waiting for first interrupt...")); dmpReady = true; // get expected DMP packet size for later comparison packetSize = mpu.dmpGetFIFOPacketSize(); } else { // ERROR! // 1 = initial memory load failed // 2 = DMP configuration updates failed // (if it's going to break, usually the code will be 1) Serial.print(F("DMP Initialization failed (code ")); Serial.print(devStatus); Serial.println(F(")")); } // configure LED for output pinMode(13, OUTPUT); } // ================================================================ // === MAIN PROGRAM LOOP === // ================================================================ void loop() { // if programming failed, don't try to do anything if (!dmpReady) return; // wait for MPU interrupt while (!mpuInterrupt && fifoCount < packetSize) { // other program behavior stuff here // . // . // . // if you are really paranoid you can frequently test in between other // stuff to see if mpuInterrupt is true, and if so, "break;" from the // while() loop to immediately process the MPU data // . // . // . } // reset interrupt flag and get INT_STATUS byte mpuInterrupt = false; mpuIntStatus = mpu.getIntStatus(); // get current FIFO count fifoCount = mpu.getFIFOCount(); // check for overflow (this should never happen unless our code is too inefficient) if ((mpuIntStatus & 0x10) || fifoCount == 1024) { // reset so we can continue cleanly mpu.resetFIFO(); Serial.println(F("FIFO overflow!")); // otherwise, check for DMP data ready interrupt (this should happen frequently) } else if (mpuIntStatus & 0x02) { // wait for correct available data length, should be a VERY short wait while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount(); // read a packet from FIFO mpu.getFIFOBytes(fifoBuffer, packetSize); // track FIFO count here in case there is > 1 packet available // (this lets us immediately read more without waiting for an interrupt) fifoCount -= packetSize; // get real acceleration, adjusted to remove gravity mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetAccel(&aa, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); file.print(aaReal.x); file.write(tab);//*************** file.print(aaReal.y); file.write(tab);//*************** file.println(aaReal.z); // Force data to SD and update the directory entry to avoid data loss. if (!file.sync() || file.getWriteError()) Serial.println(F("write error")); if (!digitalRead(BUTTON_PIN)) { // Close file and stop. file.close(); Serial.println(F("Done")); while(1) {} } } } If you have any ideas how to solve this issue, any help will be greatly appreciated. wambo

Can anyone please help me in interfacing mpu6050 with 8051? I dont have the library. neither i have any idea about how to use it. please help me.

Hello, I'm using I2Cdevlib to read out the fused DMP data from an MPU-6050 breakout board, and I'm absolutely amazed at the amount of precision I get from such a low-cost sensor! I've got one problem though: I attached the sensor to a mobile robot, which sometimes moves in large circles, i.e. the gyroscope will register the same small turn velocity over a long period of time. During these periods, after ~8 seconds the yaw reading of the sensor stabilizes at some point and I don't get rotation updates anymore. From what I gathered from other posts, I assume that the DMP tries to cancel out gyro drift by subtracting any constant gyro reading that it gets from the next readings. I guess what happens is that the DMP thinks my slowly moving robot is actually the gyroscope drifting and tries to compensate. (I can actually see the yaw moving in the opposite direction for a short while when I stop the robot mid-turn.) So my question is: Is there some way I can turn off gyro drift compensation in the DMP? I can take care of slow drifts myself by measuring the gyro drift when I'm completely sure that the robot isn't moving. It would be a pity if I couldn't use this great sensor and library because I can't disable this feature. Thanks a lot for your responses, Simon

Sorry If this question is already answered or is way too noob.... I am a novice programmer and I dont really know how to get Degrees/second mpu.getRotation(&gx, &gy, &gz); gyroRoll = gx/131.0; gyroPitch = gy/131.0; gyroYaw = gz/131.0; Is this correct ? Does my gyroRoll, gyroPitch, gyroYaw give values in degrees/second? I want the values to use in my quadcopter code... Also I didnt change any default sensitivity in my MPU6050. Actually I am using Hextronik Nanowii V01 flight controller which is Arduino Leonardo. Also I got another doubt, Is ± 250 °/s more sensitive to changes and give wider range of raw values and ± 2000 °/s is less sensitive to changes and gives narrow range of raw values??? Sorry if these questions are way too noob, I just cant confirm anywhere the above assumptions that I have made.

Hello, Thanks to Jeff for his work ! I couldn't even try using DMP without his code... The MPU6050_raw works well with my sparkfun mpu6050 connected to an arduino uno. The MPU6050_DMP6 has an irregular behavior. When launching, the serial monitor says "DMP ready! Waiting for first interrupt...", and indeed it waits a pretty long time... The interrupt pin is connected to arduino pin 2 I've also tried to connect the vio to arduino 3.3v The point is that I've no interrupt signal when connecting an oscilloscope on INT pin of the mpu... is there a hardware issue ? or should I initialize something in the mpu ? Thanks for your response damien

Hi everyone, I am using in the last months the really nice library provided by Jeff which is A M A Z I N G. Thank you man I am using it in my quadcopter and works really nice (thank you again). But there is a problem: I dont like the idea of using sensor fusion cause it is too complicated to setup with arduino and also uses too much proccessing power from my arduino. That's why I am using the DMP angle values from the MPU6050. The problem is this, after days trying to find a solution: I would like someway to obtain angles from MPU6050 DMP calling a function "get_angles()" not using interrupt pin or the buffer. The reason is that I make many other computation in arduino and frequently the buffer of MPU6050 overflows and my quad get out of control and fall. I already reduced the frequency that the buffer gets populated to the minimum but I still sometimes get overflows. That's why I would like to know if there is some way I could retrieve angles from MPU6050 using a function exactly like "mpu.getMotion6" but with angles, not with giro and accel data. Thank you so much, you helped me a lot with this great and very well documented library.

Hello People, I have got a Problem with the MPU6050_DMP6 Code as it sometimes hangs when its running. It seems to stop randomly after some time and it makes no difference if i have the Arduino powered from USB, USB and Running Serial Monitor or from 9V Battery. I did minor changes to the code: Added Raw Values and Datalogging on a Micro SD Card with a Catalex Micro SD Adapter for Arduino and removed parts like TeaPot Demo and so one because i dont need them for my application. But i dont think this problem occus due to my changes because i think i saw this freezing also with the Basic MPU6050_DMP6 Code. I tried the Datalogging with SD-Library and SDFatLibrary but the Problem occured with both. The FIFO/DMP Rate is set to 25 Hz with 0x02, 0x16, 0x02, 0x00, 0x07 // D_0_22 inv_set_fifo_rate in the MPU6050_6Axis_MotionApps20 Library .h File because i had Fifo Overflow when runnig with 100Hz. Here is my sketch code: I added a Led on Pin 8 with indicates aktivity so i see the led stopping blinking once in a while when i run the code. If i have the serial monitor then it just stoppes writing new lines. Can somebody give me a hint why this happens and how it could be fixed? Or if somebody got a code for Datalogging Yaw Pitch and Roll Values + Raw Values Accelerometer and Gyroskop i would also appreciate very much! I also tried 2 differnet SDCards (one Class 10) and ther was no differnce... I really annoying because i want to log data and when it stops randomly and mostly after not more than 2 to 3 minutes the application is unreliable and useless.... Greets Julian