superkensou

Oh, I see, my I2C Library is not a correct one. Arduino import Library to document/Arduino/Libraryies and I did put the I2CDev Lib into the install directory.so actually it was using the the previous one. now I've got the correct data. Thank you Jeff

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

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?