using the DMP example code, but also getting the gyro reading

[SouthernAtHeart]

I have based my Arduino code on the DMP example, so I get an angle reading from the 6050 like this:

#ifdef OUTPUT_READABLE_YAWPITCHROLL
    mpu.dmpGetQuaternion(&q, fifoBuffer);
    mpu.dmpGetGravity(&gravity, &q);
    mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
    pitch = (float(ypr[1] * 180/M_PI)); //angle of platform
    pitch = pitch - pitchOffset; //compensate for platform level point
    pitch = pitch * 100;
    angle = int(pitch);
#endif

but I also need to get the gyroY reading from the chip.  I see this in the other example of raw readings, which gives the raw readings:

MPU6050 accelgyro;
//MPU6050 accelgyro(0x69); // <-- use for AD0 high

int16_t ax, ay, az;
int16_t gx, gy, gz;

   The readings can then be found with this: accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

But this function doesn't work with the DMP code.

Is there a simple way to use the DMP code and also get the raw gyro reading? Thanks

[luisrodenas]

int16_t gyro[3];

mpu.dmpGetGyro(gyro, fifoBuffer);

 

use it before or after your block: 

mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

[SouthernAtHeart]

int16_t gyro[3];

mpu.dmpGetGyro(gyro, fifoBuffer);

 

use it before or after your block: 

mpu.dmpGetQuaternion(&q, fifoBuffer);

mpu.dmpGetGravity(&gravity, &q);

mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

Thanks!  I thought I'd have to drop the DMP code and just start over with the raw data code.