
superkensou
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superkensou last won the day on November 25 2013
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R. Staunlich reacted to a post in a topic: Got Data in a mess with MPU-6050_DMP6
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Incline of the sensor
superkensou replied to Soaocohoa's topic in MPU-6050 6-axis accelerometer/gyroscope (InvenSense)
Angular velocity is not enough to determine the incline, because its integrate will become imprecise over time, usually use Accelerometer to adjust the result after a period of time. you can check this blog for detail information: http://www.geekmomprojects.com/gyroscopes-and-accelerometers-on-a-chip/ -
some more ypr code I've got after running more than 5 minutes... ypr 4.93 -0.11 -0.70 ypr -112.40 -20.92 59.66 ypr -173.57 11.33 -58.04 ypr 180.00 0.00 0.00 ypr 4.54 -2.19 79.81 ypr 24.02 29.37 -51.33 ypr 180.00 -0.14 -1.41 ypr -115.94 -22.47 6.89 ypr -179.99 -15.97 -0.45 ypr 61.03 17.57 -18.42 ypr 31.60 60.21 20.00 ypr 180.00 8.80 0.00 ypr 122.38 -6.27 13.62 ypr -0.11 -0.28 -72.17 ypr -179.48 0.54 -44.66 ypr 177.74 5.32 11.87 ypr 180.00 0.16 -3.25 ypr 28.35 -50.26 33.27 ypr -50.64 50.66 -13.15 ypr -180.00 0.89 19.83 ypr 4.04 18.68 -44.68 ypr 4.93 -0.11 -0.70 ypr -112.38 -21.13 60.57 ypr -164.63 1.57 10.21 ypr -180.00 -0.16 0.00 ypr 38.98 15.24 50.89 ypr -26.42 -62.41 -27.59 ypr 180.00 -0.30 -1.39 ypr 3.27 -1.81 -1.47 ypr -179.99 -15.97 -0.45 ypr 63.43 33.10 4.14 ypr -167.66 4.00 -69.67 ypr 180.00 5.19 5.19 ypr 40.90 -28.86 27.70 ypr -0.14 0.34 61.74 ypr -179.48 0.53 -44.56 ypr 152.86 -1.59 6.94 ypr -180.00 0.00 -3.25 ypr 5.33 12.11 69.82 ypr 13.81 6.01 -65.48 ypr 180.00 1.14 21.02 ypr -6.77 -18.47 1.79 ypr 4.93 -0.12 -0.69 ypr -112.42 -21.16 60.79 ypr -162.64 -8.94 1.98 ypr -180.00 -0.16 0.00 ypr 53.22 44.92 17.46 ypr 15.44 -61.50 24.17 ypr 180.00 -0.23 -1.37 ypr 2.74 -12.13 -12.96 ypr -179.99 -15.81 -0.44 ypr 60.75 19.28 -16.50 ypr -13.53 2.70 -11.91 ypr 180.00 6.71 6.71 ypr -134.16 -8.63 -3.78 ypr -0.38 0.42 73.68 ypr -179.47 0.54 -44.60 ypr 168.94 19.80 -17.33 ypr 180.00 0.00 -3.41 ypr 28.53 -59.94 30.04 ypr -125.85 -1.14 -60.98 ypr 180.00 0.00 12.55 ypr 5.92 7.06 -60.96 ypr 4.93 -0.12 -0.70 ypr -112.51 -21.20 61.11 ypr -158.96 -8.42 10.03 ypr 180.00 -0.16 0.00 ypr -50.16 6.22 -14.19 ypr 6.62 -54.03 16.40 ypr 180.00 -0.20 -1.41 ypr 4.64 -2.29 -1.92 ypr -179.99 -15.98 -0.31 ypr 64.77 39.27 14.48 ypr -35.80 -0.74 6.15 ypr 180.00 6.36 0.00 ypr -143.03 32.17 17.79 ypr -0.06 -0.26 -58.45 ypr -179.50 0.51 -44.58 ypr 146.19 8.82 5.04 ypr -180.00 0.00 -3.41 ypr 9.68 -29.75 58.84 ypr -115.89 5.90 58.95 ypr 180.00 1.16 20.08 ypr -7.35 -13.39 -73.16 ypr 4.93 -0.12 -0.69 ypr -112.40 -21.27 61.21 ypr -167.40 -6.94 42.11 ypr -180.00 -0.16 0.00 ypr -35.96 45.48 -37.33 ypr -16.03 37.27 52.02 ypr 180.00 -0.28 -1.49 ypr 25.53 -7.26 14.60 ypr -179.99 -15.97 -0.47 ypr 64.84 41.82 17.74 ypr 51.74 -48.77 -40.87 ypr 180.00 8.80 0.00 ypr -5.92 -43.18 8.88 ypr -0.14 -0.28 -80.78 ypr -179.57 0.50 -44.57 FIFO overflow! FIFO overflow! ypr 4.93 -0.11 -0.70 ypr -112.44 -21.40 61.89 ypr -179.44 9.42 -60.16 ypr -180.00 0.00 0.16 ypr 1.52 32.79 -39.06 ypr 87.70 18.20 -13.04 ypr 180.00 -0.15 -1.39 ypr 177.74 -28.80 56.23 ypr -179.99 -16.00 -0.45 ypr 54.15 -4.55 -51.24 ypr 21.22 -67.87 -4.07 ypr 180.00 7.59 7.59 ypr 179.61 -18.48 41.08 ypr -0.62 0.33 34.91 ypr -179.52 0.52 -44.59 ypr -165.64 32.57 -4.00 ypr 180.00 0.00 -3.25 ypr -18.68 27.09 52.22 ypr 49.46 38.78 26.85 ypr 180.00 1.19 12.02 ypr -77.31 -46.39 -24.82 ypr 4.93 -0.11 -0.70 ypr -112.44 -21.35 61.64 ypr -166.49 -13.12 8.15 ypr -180.00 -0.16 0.16 ypr -24.29 -18.15 -34.57 ypr 47.06 6.01 -8.51 ypr 180.00 -0.20 -1.34 ypr -6.02 -22.68 19.55 ypr -179.99 -15.98 -0.42 ypr 61.39 22.47 -11.83 ypr -53.45 41.70 -26.95 ypr 180.00 8.17 0.00 ypr 47.74 -14.36 -6.32 ypr -0.64 0.01 -20.35 ypr -179.52 0.55 -44.53 ypr 167.33 -45.66 29.00 ypr 180.00 0.00 -3.09 ypr -14.87 35.06 52.38 ypr 9.48 -21.05 68.95 ypr 180.00 0.00 19.11 ypr 8.71 -15.83 52.99 ypr 4.93 -0.10 -0.70 ypr -112.42 -21.39 61.77 ypr -164.32 -1.01 -48.57 ypr 180.00 0.00 0.00 ypr -2.13 -9.39 -55.68 ypr 15.31 -30.62 59.38 ypr 180.00 -0.24 -1.39 ypr 179.41 5.02 39.98 ypr -179.99 -15.98 -0.42 ypr 43.81 -20.20 -69.44 ypr -35.35 26.23 -5.43 ypr 180.00 0.00 8.17 ypr 4.12 3.28 46.79 ypr -0.64 0.30 30.08 ypr -179.51 0.54 -44.55 ypr 178.27 2.71 -30.20 ypr 180.00 0.17 -3.09 ypr -6.10 -14.85 74.93 ypr 38.36 -57.67 2.09 ypr -180.00 -0.14 14.53 ypr 1.55 -2.44 66.99 ypr 4.92 -0.10 -0.70 ypr -112.34 -21.60 62.57 ypr -169.96 5.06 -23.09 ypr 180.00 0.00 0.00 ypr 43.67 87.22 1.44 ypr 43.28 43.19 -35.94 ypr 180.00 -0.27 -1.41 ypr -4.97 -11.16 2.61 ypr -179.99 -16.00 -0.43 ypr 45.48 -18.62 -68.87 ypr 22.92 59.79 2.53 ypr 180.00 0.00 0.00 ypr -18.87 46.76 43.08 ypr -0.34 -0.22 -64.43 ypr -179.59 0.50 -44.60 ypr 146.08 3.05 5.34 ypr -180.00 0.00 -3.09 ypr -1.29 17.42 70.42 ypr 51.58 63.93 26.00 ypr -180.00 -0.12 11.65 ypr -0.51 0.40 -81.64 ypr 4.92 -0.10 -0.70 ypr -112.52 -21.73 63.52 ypr -176.82 -3.35 68.95 ypr -180.00 -0.16 0.00 ypr 14.52 -11.68 71.80 ypr 148.06 16.10 -4.77 ypr 180.00 -0.11 -1.39 ypr -3.47 2.51 11.79 ypr -179.99 -16.00 -0.43 ypr 65.02 50.71 28.37 ypr -16.68 79.43 -9.68 ypr 180.00 8.13 8.13 ypr -119.13 1.93 -11.91 ypr -0.19 -0.28 -89.57 ypr -179.52 0.53 -44.59 FIFO overflow! ypr 4.93 -0.10 -0.69 ypr -112.47 -22.07 65.10 ypr 163.52 -1.41 -75.83 ypr -180.00 -0.16 0.16 ypr -31.63 -28.42 1.34 ypr -16.84 39.17 50.20 ypr 180.00 -0.23 -1.39 ypr 45.51 -0.78 -30.74 ypr -179.99 -15.84 -0.40 ypr 52.01 -3.49 -49.24 ypr -58.84 14.98 -26.80 ypr 180.00 9.46 9.46 ypr 54.24 56.33 -16.96 ypr -0.30 0.41 85.54 ypr -179.53 0.54 -44.59 ypr 175.36 2.34 5.45 ypr 180.00 0.17 -2.93 ypr -11.56 17.04 64.40 ypr 19.30 -47.72 41.07 ypr 180.00 1.15 21.24 ypr -2.95 16.07 41.08 ypr 4.93 -0.10 -0.69 ypr -112.54 -21.78 63.87 ypr 179.05 5.47 -54.12 ypr 180.00 -0.16 0.00 ypr 23.71 -21.04 58.83 ypr -152.75 -26.21 -5.89 ypr 180.00 -0.21 -1.37 ypr 4.91 -14.80 9.47 ypr -179.99 -15.84 -0.42 ypr 65.37 51.28 30.28 ypr -159.45 3.49 -83.20 ypr 180.00 0.00 8.17 ypr -22.12 58.89 20.27 ypr -0.11 0.30 54.32 ypr -179.54 0.53 -44.56 ypr -173.48 39.03 -7.83 ypr 180.00 0.16 -2.93 ypr -12.65 32.16 57.77 ypr -75.55 -66.39 23.56 ypr -180.00 -0.08 8.01 ypr -0.19 -0.21 -85.81 ypr 4.93 -0.10 -0.69 ypr -112.55 -21.83 64.10 ypr 134.73 11.37 69.93 ypr 180.00 -0.16 0.00 ypr 50.17 -46.80 -42.17 ypr 22.52 28.32 -52.93 ypr 180.00 -0.16 -1.41 ypr 4.18 -11.40 1.24 ypr -179.99 -15.68 -0.40 ypr 57.89 16.28 -22.62 ypr -95.36 32.80 -54.93 ypr 180.00 5.45 0.00 ypr -56.56 -42.56 -28.73 ypr -0.06 -0.26 -57.36 ypr -179.48 0.52 -44.61 ypr -152.37 15.56 -5.11 ypr 180.00 0.17 -3.09 ypr -26.85 37.96 42.29 ypr -43.71 -53.55 17.55 ypr 180.00 0.00 16.26 ypr -2.13 15.21 31.95 ypr 4.93 -0.10 -0.69 ypr -112.47 -21.71 63.34 ypr -166.50 -23.45 61.53 ypr 180.00 0.00 0.16 ypr 15.06 41.49 23.38 ypr 30.51 5.09 -10.54 ypr 180.00 -0.23 -1.42 ypr 174.18 70.42 -12.67 ypr -179.99 -15.84 -0.24 ypr 63.70 43.76 16.85 ypr 140.64 -14.50 -35.97 ypr 180.00 0.00 0.00 ypr 50.84 66.75 -22.49 ypr -0.15 0.35 64.68 ypr -179.51 0.53 -44.67 ypr -146.25 -8.67 3.86 ypr 180.00 0.00 -3.09 ypr 41.60 -67.87 12.42 ypr -77.70 22.33 -34.08 ypr -180.00 0.90 21.52 ypr 3.04 -2.97 21.18 ypr 4.93 -0.10 -0.69 ypr -112.40 -21.63 62.86 ypr 168.45 7.22 37.45 ypr 180.00 -0.16 0.16 ypr 19.46 -35.80 52.44 ypr 5.78 56.33 -14.40 ypr 180.00 -0.17 -1.46 ypr 163.22 -33.85 34.24 ypr -179.99 -15.84 -0.40 ypr 60.88 28.79 -5.13 ypr 40.02 -28.23 -25.02 ypr 180.00 11.31 11.31 ypr -23.55 14.77 5.05
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Hi, I'm using Arduino Uno, and GY-521 MPU6050, trying to run the example MPU6050_DMP6. I uncommented #define OUTPUT_READABLE_YAWPITCHROLL, commented the teapot define. and got data like this, really in a mess: Initializing DMP... Initializing I2C devices... Testing device connections... MPU6050 connection successful Send any character to begin DMP programming and demo: Initializing DMP... Enabling DMP... Enabling interrupt detection (Arduino external interrupt 0)... DMP ready! Waiting for first interrupt... ypr -11.65 -5.99 -0.20 ypr -117.95 -2.31 5.66 ypr 41.37 -71.00 6.51 ypr 180.00 0.00 -0.07 ypr -74.75 39.15 0.42 ypr 20.44 59.11 -29.95 ypr 179.98 -11.79 -0.56 ypr -80.68 -2.44 28.89 ypr 179.38 6.68 -3.68 ypr 66.52 52.38 36.50 ypr -37.36 -65.09 -20.80 ypr -180.00 -0.00 0.14 ypr -75.51 -47.65 15.82 ypr 1.41 1.11 -57.96 ypr -172.87 1.83 -43.98 ypr 106.46 -13.79 1.29 ypr -180.00 0.03 58.89 ypr 11.27 37.51 -51.48 ypr -30.22 39.54 34.30 ypr 180.00 0.01 5.10 ypr -1.55 -33.32 32.75 ypr -11.38 -6.58 -0.30 ypr -113.70 20.09 -58.35 ypr -5.59 -2.23 30.65 ypr 180.00 0.00 -0.07 ypr 50.86 57.03 19.18 ypr -6.88 59.55 13.49 ypr 179.98 -11.87 -0.52 ypr 36.61 25.55 5.77 ypr 179.35 7.47 -4.53 ypr 28.58 -28.44 -61.56 ypr 0.77 -23.04 62.77 PS: My chip works well with MPU6050_raw(can get stable data). Does anyone have any idea about this?why the data is so unstable?