pkav

Only for raw acceleration values, not for quaternions calculation.

I ported the initialization and calculation routines to my STM32, works well, but the problem still unresolved. I tried swapping Y and Z axis in the dmpGetYawPitchRoll function, but seems that the output was not changed at all. There is something to do with quaternions, but I am not so good at math and geometry. Hope someone could help me with these formulas.

Hello everyone. I need a sensor to measure Yaw angle. I'm not very familiar with Arduino, my project is built on STM32 MCU. I bought an Arduino Uno and a GY-521 to evaluate the MPU-6050. The teapot demo works really great, the "OUTPUT_READABLE_YAWPITCHROLL" setting also works The problem is that my PCB will be installed vertically, so MPU's vertical axis will be Y, not Z. And when I set GY-521 vertical and try to rotate it in yaw plane, the "OUTPUT_READABLE_YAWPITCHROLL" setting shows complete mess, no Yaw values shown in any of three fields. I suppose I need to change something in the calculation formulas, but which one? P. S. Sorry for my poor English