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Got Data in a mess with MPU-6050_DMP6


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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?

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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
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Is this running on a standard Arduino Uno platform, and do you know if any other output formats work correctly? This looks like the FIFO data is misaligned, so that e.g. the quaternion data is off by one or more bytes. Try dumping the FIFO count out the serial port as well and make sure that it is in fact growing in 42-byte chunks. If it is some other increment, then the data is not being generated and/or read properly.

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  • 2 months later...

Hello.

 

I have a similar issue. After a minute of working properly, the dmp output data gets messed. I dumped the fifo count and I get a count not proportional to 48, for example 52 (actually it with mpu-9150). How is that this happens and how can it be avoided?

 

Thank you very much

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I have a similar issue. After a minute of working properly, the dmp output data gets messed. I dumped the fifo count and I get a count not proportional to 48, for example 52 (actually it with mpu-9150). How is that this happens and how can it be avoided?

 

It sounds like your DMP is generating a different binary packet than what the existing MotionApps code is expecting, and since it sends larger packets and only reads smaller ones, eventually the FIFO overflows. You would need to somehow decode the DMP packet structure and change the read size to whatever the correct number of bytes is.

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