Jump to content
I2Cdevlib Forums

Search the Community

Showing results for tags 'fusion'.

  • Search By Tags

    Type tags separated by commas.
  • Search By Author

Content Type


  • I2Cdevlib Web Tools
    • I2C Protocol Analyzer
    • I2C Device Entry Interface
    • I2C Device Library API
  • I2Cdev Platform Discussion
    • Arduino (ATmega)
    • Arduino Due (ARM Cortex M3)
    • MSP430
    • Other Platforms
  • I2C Device Discussion
    • AD7746 capacitance-to-digital converter (Analog Devices)
    • ADS1115 16-bit A/D converter (Texas Instruments)
    • ADXL345 3-axis accelerometer (Analog Devices)
    • AK8975 3-axis magnetometer (AKM Semiconductor)
    • BMA150 3-axis accelerometer (Bosch Sensortec)
    • BMP085 pressure sensor (Bosch Sensortec)
    • DS1307 real-time clock (Maxim)
    • HMC5843 3-axis magnetometer (Honeywell)
    • HMC5883L 3-axis magnetometer (Honeywell)
    • iAQ-2000 indoor air quality sensor (AppliedSensor)
    • IQS156 ProxSense capacitive touch sensor (Azoteq)
    • ITG-3200 3-axis gyroscope (InvenSense)
    • L3G4200D 3-axis accelerometer (STMicroelectronics)
    • MPL3115A2 Xtrinsic Smart Pressure Sensor (Freescale)
    • MPR121 12-bit capacitive touch sensor (Freescale)
    • MPU-6050 6-axis accelerometer/gyroscope (InvenSense)
    • MPU-9150 9-axis accelerometer/gyroscope/magnetometer (InvenSense)
    • PanelPilot multi-screen digital meter (Lascar Electronics)
    • SSD1308 128x64 OLED/PLED driver (Solomon Systech)
    • TCA6424A 24-bit I/O expander (Texas Instruments)

Find results in...

Find results that contain...

Date Created

  • Start


Last Updated

  • Start


Filter by number of...


  • Start





Website URL







Found 1 result

  1. I'm running the DMP example for Arduino. Upon startup the yaw value wanders for about ten seconds before stabilizing at ~38°. Pitch and roll are stable from the start, but after the ten seconds everybody is basically perfect. This is confusing to me because of the way sensor fusion works. In a fused sensor the acceleration vector is used to cancel drift in the x and y gyro readings, and a magnetometer does the same for roll around z. The MPU-6050 doesn't have a magnetometer, so why does the yaw stabilize? I know something's not quite right with the yaw; it drifts for a while when pitch and roll are steady from the start. However, from looking at the erratic drift in the raw gyro rates, I don't see a reason why the yaw would ever stabilize. I realize that I'm kind of asking "How does DMP work" and that nobody really knows. But maybe someone has an idea? Anyway, thanks for the work you've done, Jeff. Your praises shall be sung to the farthest reaches of the interwebs, followed by lusty cursings of InvenSense. But maybe a kind word every once in a while.
  • Create New...