ZHomeSlice
commented
2 years ago I'm looking to a fix for the dtostrf() function spitting out �, x, Z, �, �
but until then this should be the mods to the code for your rocket :) Try this out: If it maxes out at 2 G Let me know I have another idea...
#include "Simple_MPU6050.h"
#define MPU6050_DEFAULT_ADDRESS 0x68 // address pin low (GND), default for InvenSense evaluation board
#define Three_Axis_Quaternions 3
#define Six_Axis_Quaternions 6 // Default
Simple_MPU6050 mpu(Three_Axis_Quaternions);
void print_Values (int16_t *gyro, int16_t *BadAccel, int32_t *quat) {
Quaternion q;
VectorFloat gravity;
float ypr[3] = { 0, 0, 0 };
float xyz[3] = { 0, 0, 0 };
mpu.GetQuaternion(&q, quat);
mpu.GetGravity(&gravity, &q);
mpu.GetYawPitchRoll(ypr, &q, &gravity);
mpu.ConvertToDegrees(ypr, xyz);
Serial.print(F("Y ")); Serial.print(xyz[0]); Serial.print(F(", "));
Serial.print(F("P ")); Serial.print(xyz[1]); Serial.print(F(", "));
Serial.print(F("R ")); Serial.print(xyz[2]); Serial.print(F(","));
Serial.print(F("\t "));
}
void setup() {
// initialize serial communication
Serial.begin(115200);
while (!Serial); // wait for Leonardo enumeration, others continue immediately
Serial.println(F("Start: "));
// Setup the MPU
mpu.Set_DMP_Output_Rate_Hz(100); // Set the DMP output rate from 200Hz to 5 Minutes.
mpu.SetAddress(MPU6050_DEFAULT_ADDRESS); //Sets the address of the MPU.
mpu.CalibrateMPU(); // Calibrates the MPU.
mpu.load_DMP_Image(); // Loads the DMP image into the MPU and finish configuration.
mpu.ACCEL_CONFIG_WRITE_ACCEL_FS_SEL(3);// Accel Full Scale Select: 16g (11B)
mpu.on_FIFO(print_Values); // Set callback function that is triggered when FIFO Data is retrieved
// Setup is complete!
}
void loop() {
static unsigned long FIFO_DelayTimer;
if ((millis() - FIFO_DelayTimer) >= (9)) {
if ( mpu.dmp_read_fifo(false)) {
int16_t ZAccellRaw;
float ZAccell;
mpu.ACCEL_ZOUT_H_READ_ACCEL_ZOUT(&ZAccellRaw);// Passing the pointer to the variable ZAccellRaw into the function. this will fill in the value from the MPU6050
float Gravity = 1.0; // we are removing 1 g to only show z accelleration
ZAccell = (((float) ZAccellRaw) / 8192.0f) - Gravity; // and just divide it.
Serial.print(F("Z "));Serial.print(ZAccell, 4); Serial.println();
FIFO_DelayTimer = millis() ; // false = no interrupt pin attachment required and When data arrives in the FIFO Buffer reset the timer
}
}
}
ossvale
revell1
kamracin
valnenov
GUIMINLONG
it works perfectly also with my Teensy 4.1 (the microcontroller I use for this project) . The only thing that I cannot see is the calibration OFFSETS in the serial output, because I see: // X Accel Y Accel Z Accel X Gyro Y Gyro Z Gyro
define OFFSETS l, �, x, Z, �, �
(just symbols)
And Changing +-2g to +-16g accelerometer sensitivity with 3-degree of freedom mode on the dDMP firmware.