Sensor Fusion Algorithm Implementation

[digitaldanny]

Is your feature request related to a problem? Please describe. Having trouble getting the DMP working on the MPU6050. I can use an external sensor fusion library to get accurate euler angles from the raw accelerometer and gyroscope readings.

Describe the solution you'd like

• Convert raw accelerometer and gyroscope data into hand orientation values on 2 axes.
  • The algorithm will use gyroscope and accelerometer values. There will be drift on the third axis, but I do not plan on using this axis for the final demo.
  • Capture the gyro error offset while sitting still. These values will need to be subtracted from all gyro readings.
• Create a millis() implementation to capture the time difference between sensor data captures.
• How much can I compress these values before transferring over Bluetooth?

Additional context

• 47 - MPU6050 I2c Drivers

• The issue linked above also has references to an all-inclusive sensor fusion library. Might be able to quickly make use of this to get orientation values.

[digitaldanny]

Copying over the sensor fusion repo link - here.

[digitaldanny]

Created a quick Arduino sketch that reads raw sensor data from the MPU6050. Using the Arduino Serial Plotter, I was able to see the data changing live as I moved the sensor. Moving or rotating the breakout board along one axis at a time allowed me to verify that valid data was being read from the sensor for both accelerometer and gyroscope sensors.

Gyroscope Plot - Rotating 1 axis at a time

Accelerometer Plot - Moving 1 axis at a time

[digitaldanny]

Merged in the Arduino sensor fusion checkout. Still need to create some abstraction from the library to be used in the main glove application. Will create this API once I finish the MPU6050 drivers issue in #67 .

[digitaldanny]

Pitch and roll data plot is in #68 .