without connecting interrutpt pin i'm getting yaw,pitch,roll values

[sarwadenj]

I'm designing a quadcopter and my current task is getting values of yaw,pitch and roll. I am using ESP8266 with Mpu6050. I want to read values from FIFO using interrupt pin i written code for it but after uploading without connecting to interrupt pin i'm getting yaw ,pitch and raw values. So from which i getting these values and are these values are correct.

 

i uploaded the code file so check it and Thanks in advance.

new_imufile.txt

[sarwadenj]

code written by me

 

 

 

 

 

 

 

 

#define DEBUG_IMU_YPR

//#define DEBUG_IMU_GYRO

#define DEBUG_MAIN

 

#define BUILT_IN_LED 16 //D0

//----------IMU----------//6

 

#include <I2Cdev.h>

#include <MPU6050_6Axis_MotionApps20.h>

#include <Wire.h>

 

#define OUTPUT_READABLE_YAWPITCHROLL

#define INTERRUPT_PIN 14 //D5

#define IMU_GROUND 10

 

MPU6050 imu;

 

// IMU control/status vars

bool dmpReady = false;  // set true if DMP init was successful

uint8_t imuIntStatus;   // holds actual interrupt status byte from IMU

uint8_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 FIFO

uint8_t fifoBuffer[64]; // FIFO storage buffer

 

// Orientation/motion vars

Quaternion q;           // [w, x, y, z]         quaternion container

VectorFloat gravity;    // [x, y, z]            gravity vector

float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

//float offset[3];

 

//Gyro values array

VectorInt16 g;

float gyroAverage = 0.0;

 

volatile bool imuInterrupt = false;     // indicates whether imu interrupt pin has gone high

 

//IMU stabilization variables

//float yawPrevious = 0;

//bool yawCompare = false;

//int yawCompareCounter = 0;

//byte yawComparePrint = 1;

//byte imuStable = 0;

 

 

void setup()

{

#ifdef DEBUG_MAIN

  //Open Serial Comms

  Serial.begin(115200);

  while (!Serial)

  {

    yield();

  }

#endif

 

  //Setup WiFi, IMU, PID and Motor outputs

  //udp_setup();

  imu_setup();

  //pid_setup();

  //motor_setup();

}

 

void dmp_data_ready()

{

  imuInterrupt = true;

}

 

void imu_setup()

{

  //IMU Setup

  pinMode(IMU_GROUND, OUTPUT); //

  digitalWrite(IMU_GROUND, HIGH);

  delay(10);

  digitalWrite(IMU_GROUND, LOW);

  pinMode(BUILT_IN_LED, OUTPUT);

  digitalWrite(BUILT_IN_LED, HIGH);

 

  Wire.begin(D1,D2); //SDA, SCL

  Wire.setClock(400000); // 400kHz I2C clock (200kHz if CPU is 8MHz)

 

  //Initialize Device

  imu.initialize();

  pinMode(INTERRUPT_PIN, INPUT); //

 

  devStatus = imu.dmpInitialize();  //Load and configure the DMP

 

  //Supply Gyro offsets here, scaled for minimum sensitivity:-

  imu.setXGyroOffset(220);

  imu.setYGyroOffset(76);

  imu.setZGyroOffset(-85);

  imu.setZAccelOffset(1788);

 

  //Make sure it worked (returns 0 if so)

  if (devStatus == 0)

  {

    imu.setDMPEnabled(true);  //Turn on the DMP

 

    //Enable Arduino interrupt detection

    attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmp_data_ready, RISING);

    imuIntStatus = imu.getIntStatus();

    dmpReady = true;

    packetSize = imu.dmpGetFIFOPacketSize();

  }

  //yawCompare = true;

}

 

void imu_ypr()

{

  //I2C and (Yaw, Pitch, Roll) code for IMU

  if (!dmpReady) return;  //Wait for imu interrupt or extra packet(s) available

 

  imuInterrupt = false;    //Reset interrupt flag

  imuIntStatus = imu.getIntStatus();  //Get INT_STATUS byte

  fifoCount = imu.getFIFOCount();     //Get current FIFO count

 

  //Check for overflow (this should never happen unless our code is too inefficient)

  if ((imuIntStatus & 0x10) || fifoCount == 1024)

    imu.resetFIFO();   // reset so we can continue cleanly

 

  //Otherwise, check for DMP data ready interrupt (this should happen frequently)

  else if (imuIntStatus & 0x02)

  {

    while (fifoCount < packetSize)

      fifoCount = imu.getFIFOCount();  // wait for correct available data length

 

    imu.getFIFOBytes(fifoBuffer, packetSize);  // read a packet from FIFO

 

    fifoCount -= packetSize;  //Track FIFO count here in case there is > 1 packet available

    //This lets us immediately read more without waiting for an interrupt

 

    update_ypr_gyro();

 

  /*  if(!imuStable)

      stabilize_imu();

      

    if (flagSetOffsets)

    {

      set_offsets(1); //Set all offsets

      flagSetOffsets = 0;

    }

    if(imuStable && abs(yawInput) < 3)

      set_offsets(0); //Set only yaw offset

      

    update_offsets();

 

    //Printing Gyro values    */

#ifdef DEBUG_IMU_GYRO

    Serial.print("gyro\t");

    Serial.print(g.x);

    Serial.print("\t");

    Serial.print(g.y);

    Serial.print("\t");

    Serial.println(g.z);

    Serial.flush();

#endif

 

    //Printing Yaw, Pitch and Roll

#ifdef DEBUG_IMU_YPR

    Serial.print("YAW: ");

    Serial.print(ypr[0]);

    Serial.print("\tPITCH: ");

    Serial.print(ypr[1]);

    Serial.print("\tROLL:");

    Serial.println(ypr[2]);

    Serial.flush();

#endif

  }

 

}

 

void update_ypr_gyro()

{

  imu.dmpGetQuaternion(&q, fifoBuffer);

  imu.dmpGetGravity(&gravity, &q);

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

  //Get gyro values   (uncomment declaration of 'g' to use)

 // imu.dmpGetGyro(&g, fifoBuffer);

  gyro_average_compute();

 

  //Converting to degrees

  ypr[0] = ypr[0] * 180/M_PI;

  ypr[1] = ypr[1] * 180/M_PI;

  ypr[2] = ypr[2] * 180/M_PI;

 

  ypr[0] = -ypr[0];  //Reversing Yaw

  ypr[1] = -ypr[1];  //Reversing Pitch

 

}

 

/* void stabilize_imu()

{

  if (millis() > 1100 && yawCompare == true)

  {

    if (yawComparePrint == 1)

    {

      Serial.print("Checking IMU Stability");

      yawComparePrint = 0;

    }

 

    yawCompareCounter++;

    if (yawCompareCounter == 150)

    {

      Serial.print("..");

      if (abs((ypr[0]) - (yawPrevious)) < 0.01)

      {

        yawCompare = false;

        imuStable = 1;

        Serial.println();

        Serial.println("IMU stabilized");

        digitalWrite(BUILT_IN_LED, LOW);

      }

      else

      {

        yawPrevious = ypr[0];

        yawCompareCounter = 0;

      }

    }

  }

} */

 

void gyro_average_compute()

{

  gyroAverage = float((abs(g.x) + abs(g.y) + abs(g.z)) / 3);

#ifdef DEBUG_IMU_GYRO

  Serial.println(gyroAverage);

#endif

}

 

/*

void set_offsets(byte yawOrAll)  //0 for only yaw, 1 for all

{

  if(yawOrAll)

  {

    offset[0] = ypr[0];

    offset[1] = pitchOffset;

    offset[2] = rollOffset;

  }

  else

    offset[0] = ypr[0];

}

 

void update_offsets()

{

  for (int i = 0 ; i < 3 ; i++)

  {

    ypr -= offset;

#ifdef DEBUG_IMU_OFFSETS

    Serial.print("Offset ");

    Serial.print(i);

    Serial.print(": ");

    Serial.print(offset);

    Serial.print("\t\t");

#endif

  }

#ifdef DEBUG_IMU_OFFSETS

  Serial.println();

#endif

}

*/

void loop() {

  // put your main code here, to run repeatedly:

  //Take IMU readings

  imu_ypr();

}