zenmanenergy
commented
6 years ago It is a scaled value of a g. I don't find that unit is very helpful. Personally what I prefer is an SI unit for acceleration, i.e. a unit of meters/second/second Try this....
float zAccel=(float(aaWorld.z)/ 8192)*9.810; if (abs(zAccel) > 3){ Serial.print(zAccel); Serial.println(); }
The if statement will just keep it from spitting out numbers constantly.
So this should output nothing if it's sitting still. But if you were to drop your device and let it fall (In the z direction) the value should equal gravity. Or rather close. When I do it on mine I see it go as high as -10.5. But it probably needs to be calibrated.
You can do this on all three axis' and it should give you a value in m/s^2 which IS useful. I'm not smart enough to understand the benefit of doing the calculations using a non-metric unit.
what is the unit of world-frame acceleration in this file or It's raw data of accelerometer https://github.com/jrowberg/i2cdevlib/blob/master/Arduino/MPU6050/examples/MPU6050_DMP6/MPU6050_DMP6.ino