Julian.O. Posted February 5, 2015 Report Share Posted February 5, 2015 Hello People, I have got a Problem with the MPU6050_DMP6 Code as it sometimes hangs when its running. It seems to stop randomly after some time and it makes no difference if i have the Arduino powered from USB, USB and Running Serial Monitor or from 9V Battery. I did minor changes to the code: Added Raw Values and Datalogging on a Micro SD Card with a Catalex Micro SD Adapter for Arduino and removed parts like TeaPot Demo and so one because i dont need them for my application. But i dont think this problem occus due to my changes because i think i saw this freezing also with the Basic MPU6050_DMP6 Code. I tried the Datalogging with SD-Library and SDFatLibrary but the Problem occured with both. The FIFO/DMP Rate is set to 25 Hz with 0x02, 0x16, 0x02, 0x00, 0x07 // D_0_22 inv_set_fifo_rate in the MPU6050_6Axis_MotionApps20 Library .h File because i had Fifo Overflow when runnig with 100Hz. Here is my sketch code: // I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0)// 6/21/2012 by Jeff Rowberg <jeff@rowberg.net>// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib//// Changelog:// 2013-05-08 - added seamless Fastwire support// - added note about gyro calibration// 2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error// 2012-06-20 - improved FIFO overflow handling and simplified read process// 2012-06-19 - completely rearranged DMP initialization code and simplification// 2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly// 2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING// 2012-06-05 - add gravity-compensated initial reference frame acceleration output// - add 3D math helper file to DMP6 example sketch// - add Euler output and Yaw/Pitch/Roll output formats// 2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee)// 2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250// 2012-05-30 - basic DMP initialization working/* ============================================I2Cdev device library code is placed under the MIT licenseCopyright © 2012 Jeff RowbergPermission is hereby granted, free of charge, to any person obtaining a copyof this software and associated documentation files (the "Software"), to dealin the Software without restriction, including without limitation the rightsto use, copy, modify, merge, publish, distribute, sublicense, and/or sellcopies of the Software, and to permit persons to whom the Software isfurnished to do so, subject to the following conditions:The above copyright notice and this permission notice shall be included inall copies or substantial portions of the Software.THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS ORIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THEAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHERLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS INTHE SOFTWARE.===============================================*/// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files// for both classes must be in the include path of your project#include "I2Cdev.h"#include <SD.h>#include "MPU6050_6Axis_MotionApps20.h"//#include "MPU6050.h" // not necessary if using MotionApps include file// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation// is used in I2Cdev.h#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE #include "Wire.h"#endif// class default I2C address is 0x68// specific I2C addresses may be passed as a parameter here// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)// AD0 high = 0x69MPU6050 mpu;//MPU6050 mpu(0x69); // <-- use for AD0 highint16_t ax, ay, az;int16_t gx, gy, gz;#define OUTPUT_READABLE_YAWPITCHROLL#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)bool blinkState = false;// MPU control/status varsbool dmpReady = false; // set true if DMP init was successfuluint8_t mpuIntStatus; // holds actual interrupt status byte from MPUuint8_t devStatus; // return status after each device operation (0 = success, !0 = error)uint16_t packetSize; // expected DMP packet size (default is 42 bytes)uint16_t fifoCount; // count of all bytes currently in FIFOuint8_t fifoBuffer[64]; // FIFO storage buffer// orientation/motion varsQuaternion q; // [w, x, y, z] quaternion containerVectorInt16 aa; // [x, y, z] accel sensor measurementsVectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurementsVectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurementsVectorFloat gravity; // [x, y, z] gravity vectorfloat euler[3]; // [psi, theta, phi] Euler angle containerfloat ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vectorFile myFile;// ================================================================// === INTERRUPT DETECTION ROUTINE ===// ================================================================volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone highvoid dmpDataReady() { mpuInterrupt = true;}// ================================================================// === INITIAL SETUP ===// ================================================================void setup() { // join I2C bus (I2Cdev library doesn't do this automatically) #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE Wire.begin(); TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz) #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE Fastwire::setup(400, true); #endif // initialize serial communication // (115200 chosen because it is required for Teapot Demo output, but it's // really up to you depending on your project) Serial.begin(115200); //while (!Serial); // wait for Leonardo enumeration, others continue immediately // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio // Pro Mini running at 3.3v, cannot handle this baud rate reliably due to // the baud timing being too misaligned with processor ticks. You must use // 38400 or slower in these cases, or use some kind of external separate // crystal solution for the UART timer. // initialize device Serial.println(F("Initializing I2C devices...")); mpu.initialize(); // verify connection Serial.println(F("Testing device connections...")); Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed")); /* // wait for ready Serial.println(F("\nSend any character to begin DMP programming and demo: ")); while (Serial.available() && Serial.read()); // empty buffer while (!Serial.available()); // wait for data while (Serial.available() && Serial.read()); // empty buffer again */ // load and configure the DMP Serial.println(F("Initializing DMP...")); devStatus = mpu.dmpInitialize(); // supply your own gyro offsets here, scaled for min sensitivity mpu.setXGyroOffset(220); mpu.setYGyroOffset(76); mpu.setZGyroOffset(-85); mpu.setZAccelOffset(1788); // 1688 factory default for my test chip // make sure it worked (returns 0 if so) if (devStatus == 0) { // turn on the DMP, now that it's ready Serial.println(F("Enabling DMP...")); mpu.setDMPEnabled(true); // enable Arduino interrupt detection Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)...")); attachInterrupt(0, dmpDataReady, RISING); mpuIntStatus = mpu.getIntStatus(); // set our DMP Ready flag so the main loop() function knows it's okay to use it Serial.println(F("DMP ready! Waiting for first interrupt...")); dmpReady = true; // get expected DMP packet size for later comparison packetSize = mpu.dmpGetFIFOPacketSize(); } else { // ERROR! // 1 = initial memory load failed // 2 = DMP configuration updates failed // (if it's going to break, usually the code will be 1) Serial.print(F("DMP Initialization failed (code ")); Serial.print(devStatus); Serial.println(F(")")); } // configure LED for output pinMode(8, OUTPUT);}// ================================================================// === MAIN PROGRAM LOOP ===// ================================================================void loop() { // if programming failed, don't try to do anything if (!dmpReady) return; // wait for MPU interrupt or extra packet(s) available while (!mpuInterrupt && fifoCount < packetSize) { // other program behavior stuff here // . // . // . // if you are really paranoid you can frequently test in between other // stuff to see if mpuInterrupt is true, and if so, "break;" from the // while() loop to immediately process the MPU data // . // . // . } // reset interrupt flag and get INT_STATUS byte mpuInterrupt = false; mpuIntStatus = mpu.getIntStatus(); // get current FIFO count fifoCount = mpu.getFIFOCount(); // check for overflow (this should never happen unless our code is too inefficient) if ((mpuIntStatus & 0x10) || fifoCount == 1024) { // reset so we can continue cleanly mpu.resetFIFO(); Serial.println(F("FIFO overflow!")); // otherwise, check for DMP data ready interrupt (this should happen frequently) } else if (mpuIntStatus & 0x02) { // wait for correct available data length, should be a VERY short wait while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount(); // read a packet from FIFO mpu.getFIFOBytes(fifoBuffer, packetSize); // track FIFO count here in case there is > 1 packet available // (this lets us immediately read more without waiting for an interrupt) fifoCount -= packetSize; #ifdef OUTPUT_READABLE_YAWPITCHROLL // read raw accel/gyro measurements from device mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); SD.begin(10); myFile = SD.open("datalog.txt", FILE_WRITE); // display Euler angles in degrees mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); Serial.print("y,p,r,ax,ay,az,gx,gy,gz\t"); Serial.print("\t"); Serial.print(ypr[0] * 180/M_PI); Serial.print("\t"); Serial.print(ypr[1] * 180/M_PI); Serial.print("\t"); Serial.print(ypr[2] * 180/M_PI); Serial.print("\t"); Serial.print(ax); Serial.print("\t"); Serial.print(ay); Serial.print("\t"); Serial.print(az); Serial.print("\t"); Serial.print(gx); Serial.print("\t"); Serial.print(gy); Serial.print("\t"); Serial.println(gz); myFile.print("y,p,r,ax,ay,az,gx,gy,gz\t"); myFile.print("\t"); myFile.print(ypr[0] * 180/M_PI); myFile.print("\t"); myFile.print(ypr[1] * 180/M_PI); myFile.print("\t"); myFile.print(ypr[2] * 180/M_PI); myFile.print("\t"); myFile.print(ax); myFile.print("\t"); myFile.print(ay); myFile.print("\t"); myFile.print(az); myFile.print("\t"); myFile.print(gx); myFile.print("\t"); myFile.print(gy); myFile.print("\t"); myFile.println(gz); myFile.close(); #endif // blink LED to indicate activity blinkState = !blinkState; digitalWrite(8, blinkState); }} I added a Led on Pin 8 with indicates aktivity so i see the led stopping blinking once in a while when i run the code. If i have the serial monitor then it just stoppes writing new lines. Can somebody give me a hint why this happens and how it could be fixed? Or if somebody got a code for Datalogging Yaw Pitch and Roll Values + Raw Values Accelerometer and Gyroskop i would also appreciate very much! I also tried 2 differnet SDCards (one Class 10) and ther was no differnce... I really annoying because i want to log data and when it stops randomly and mostly after not more than 2 to 3 minutes the application is unreliable and useless.... Greets Julian Samellanak and Ekbergdub 2 Quote Link to comment Share on other sites More sharing options...
Julian.O. Posted February 5, 2015 Author Report Share Posted February 5, 2015 Changed the FIFO/DMP Rate to 20 Hz and it seems to run more stable when i have Serial Monitor opened. It seems to run more stable with Serial Monitor in general... I use an Arduino Uno R3. I also once in a while observe strange values in DMP values. Here is an example of my Serial Monitor/ SD Output. In the Beginning there are stable values, but then they go grazy and this is also the point were the sketch freezed in this example. But it also freezed while having stable values... y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3602 176 22898 96 43 -49y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3654 152 22770 95 42 -51y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3594 152 22858 96 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3596 134 22818 96 42 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.02 0.40 -3618 140 22780 94 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.02 0.40 -3640 172 22856 97 43 -49y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.02 0.40 -3608 154 22818 97 43 -49y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.02 0.40 -3598 182 22788 96 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.02 0.40 -3608 142 22836 96 44 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.02 0.40 -3604 176 22806 95 42 -49y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.02 0.40 -3616 146 22802 95 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3632 172 22874 95 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3646 154 22768 97 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3634 132 22844 95 42 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3652 162 22832 95 42 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3644 158 22862 95 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3610 160 22848 96 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3598 158 22824 96 42 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3626 172 22806 96 43 -49y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3638 136 22826 95 42 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3622 180 22818 96 43 -51y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3646 120 22804 95 44 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3598 160 22806 97 42 -49y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.03 0.41 -3688 156 22846 95 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3646 130 22814 96 42 -51y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3624 186 22788 96 43 -51y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3616 188 22752 96 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3648 166 22838 95 42 -51y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3564 160 22854 96 42 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3598 140 22802 96 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3684 206 22844 95 43 -51y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3608 164 22832 95 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3628 138 22782 96 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3608 156 22844 96 44 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3652 110 22766 94 42 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3628 190 22842 96 44 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3604 162 22794 95 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3628 164 22802 97 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.03 0.40 -3632 142 22832 94 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3632 206 22820 97 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3634 186 22844 95 42 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3602 186 22800 98 43 -49y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3634 130 22758 95 42 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3612 144 22838 97 44 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3608 142 22848 95 43 -51y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3642 194 22838 97 42 -49y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3622 124 22808 93 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.04 -9.03 0.41 -3596 150 22820 98 42 -49y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.03 0.40 -3646 176 22798 93 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.03 0.41 -3644 182 22842 97 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3618 162 22900 95 42 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.03 0.41 -3630 200 22828 98 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3592 182 22798 94 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3652 176 22728 97 42 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3658 132 22778 94 42 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3598 164 22816 96 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3612 118 22780 95 43 -51y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3634 210 22784 97 43 -49y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3640 156 22824 95 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3636 144 22842 96 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3670 114 22840 96 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3606 172 22824 95 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3634 110 22854 97 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3602 136 22848 95 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3656 140 22796 96 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3636 184 22816 94 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3640 180 22804 97 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3630 114 22754 94 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3626 226 22828 97 42 -49y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3618 156 22798 94 44 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3630 156 22784 98 41 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.03 0.41 -3630 134 22872 93 41 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.03 0.41 -3652 186 22850 98 43 -49y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.03 0.41 -3646 172 22774 93 42 -51y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3586 140 22832 97 42 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3638 210 22796 94 43 -51y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3548 158 22800 97 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3640 172 22846 94 44 -51y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3636 152 22782 97 42 -51y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3530 182 22848 95 41 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3566 180 22836 97 43 -49y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3624 148 22760 94 43 -52y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.40 -3618 146 22826 97 42 -50y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.40 -3638 168 22858 93 43 -51y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3628 180 22812 99 42 -49y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3642 172 22866 92 43 -51y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3646 134 22778 99 43 -50y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.40 -3656 182 22870 93 42 -50y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.40 -3636 134 22732 99 43 -49y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.40 -3590 190 22848 93 41 -51y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.40 -3614 190 22822 99 44 -49y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.40 -3632 154 22754 91 40 -51y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.40 -3630 178 22802 101 45 -51y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.39 -3618 116 22814 88 41 -51y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.03 0.41 -3634 158 22874 104 43 -49y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.39 -3650 96 22806 85 43 -53y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.41 -3656 190 22896 107 43 -48y,p,r,ax,ay,az,gx,gy,gz 8.03 -9.02 0.39 -3586 112 22768 85 42 -52y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.41 -3604 178 22768 106 42 -47y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.40 -3616 154 22712 86 42 -52y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.40 -3714 168 22830 104 44 -48y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.40 -3610 138 22894 89 42 -51y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.40 -3612 150 22716 103 43 -49y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.40 -3594 144 22758 90 42 -51y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.40 -3628 130 22808 101 43 -49y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.40 -3634 160 22866 90 42 -51y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.40 -3588 160 22776 101 43 -49y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.39 -3610 120 22834 91 43 -51y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.40 -3606 216 22788 100 43 -49y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.39 -3642 160 22844 92 42 -51y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.39 -3626 158 22814 100 43 -49y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.39 -3622 128 22876 92 43 -51y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.40 -3628 212 22886 100 42 -50y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.40 -3602 182 22832 92 43 -51y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.39 -3590 226 22792 100 43 -49y,p,r,ax,ay,az,gx,gy,gz 8.02 -9.02 0.40 -3598 170 22864 100 43 -50y,p,r,ax,ay,az,gx,gy,gz 28.90 47.09 -38.56 -3642 150 22820 93 43 -51y,p,r,ax,ay,az,gx,gy,gz 27.31 47.78 -39.20 -3654 152 22866 95 43 -49y,p,r,ax,ay,az,gx,gy,gz 51.46 23.82 -21.37 -3622 210 22874 98 42 -50y,p,r,ax,ay,az,gx,gy,gz -20.92 -49.57 -39.48 -3662 200 22766 92 42 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Julian.O. Posted February 5, 2015 Author Report Share Posted February 5, 2015 Now it really seems to run stable as long as i start the sketch with opening the Serial Monitor. Then I had it running for 30 minutes 2 times with no problems. But when i just power the Arduino the code runs for about 10 seconds and then stops. So it seems to have anything to do with Serial Communication/ Serial Monitor. Can anybody help me by that?! Thanks! Cheers Quote Link to comment Share on other sites More sharing options...
hemender singh Posted February 5, 2015 Report Share Posted February 5, 2015 i have started using an mpu6050 for my segway. I used the mpu librabry to obtain the raw readings from the sensor but i am stuck now...how do i convert these raw values to angles to use in the filter code? can any one suggest what should be my delay time and filter coefficient and time constan? Quote Link to comment Share on other sites More sharing options...
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