Euler Delay

[beratozbay]

Hello,

I have a sparkfun MPU9250 breakout board and a teensy 3.5. When I tried the example "MPU9250BasicAHRS_t3" I take the this kind of result.

ax = -61.89 ay = 0.79 az = 930.85 mg
gx = -0.02 gy = 0.08 gz = 0.00 deg/s
mx = -119 my = -125 mz = 382 mG
q0 = 0.27 qx = -0.30 qy = 0.91 qz = 0.14
Yaw, Pitch, Roll: -151.28, 34.77, 174.09
Rate = 0.17 Hz
---------------------------------------------------------------------
ax = -64.51 ay = 0.49 az = 936.34 mg
gx = -0.05 gy = 0.05 gz = 0.07 deg/s
mx = -135 my = -137 mz = 367 mG
q0 = 0.33 qx = -0.28 qy = 0.89 qz = 0.15
Yaw, Pitch, Roll: -152.97, 41.85, 173.53
Rate = 6015.74 Hz
---------------------------------------------------------------------
ax = -63.96 ay = 0.55 az = 935.73 mg
gx = -0.13 gy = 0.08 gz = 0.06 deg/s
mx = -124 my = -123 mz = 374 mG
q0 = 0.39 qx = -0.27 qy = 0.86 qz = 0.17
Yaw, Pitch, Roll: -155.29, 50.34, 172.48
Rate = 6061.90 Hz
---------------------------------------------------------------------
ax = -64.82 ay = -1.53 az = 937.19 mg
gx = -0.08 gy = 0.00 gz = -0.00 deg/s
mx = -119 my = -128 mz = 389 mG
q0 = 0.47 qx = -0.24 qy = 0.83 qz = 0.19
Yaw, Pitch, Roll: -159.16, 60.73, 170.03
Rate = 6017.94 Hz
---------------------------------------------------------------------
ax = -64.27 ay = -0.31 az = 936.28 mg
gx = -0.04 gy = 0.06 gz = 0.05 deg/s
mx = -139 my = -127 mz = 377 mG
q0 = 0.56 qx = -0.21 qy = 0.77 qz = 0.21
Yaw, Pitch, Roll: -168.56, 73.20, 162.11
Rate = 6064.35 Hz
---------------------------------------------------------------------
ax = -64.76 ay = -1.10 az = 932.19 mg
gx = 0.02 gy = 0.10 gz = 0.02 deg/s
mx = -117 my = -130 mz = 395 mG
q0 = 0.67 qx = -0.17 qy = 0.68 qz = 0.24
Yaw, Pitch, Roll: 116.67, 84.48, 88.63
Rate = 6000.43 Hz
---------------------------------------------------------------------
ax = -62.19 ay = 1.10 az = 937.07 mg
gx = -0.13 gy = 0.09 gz = -0.00 deg/s
mx = -122 my = -128 mz = 369 mG
q0 = 0.78 qx = -0.13 qy = 0.56 qz = 0.27
Yaw, Pitch, Roll: 43.41, 68.89, 15.96
Rate = 6062.08 Hz
---------------------------------------------------------------------
ax = -63.96 ay = -1.34 az = 935.49 mg
gx = -0.10 gy = -0.00 gz = 0.04 deg/s
mx = -128 my = -123 mz = 377 mG
q0 = 0.88 qx = -0.08 qy = 0.36 qz = 0.30
Yaw, Pitch, Roll: 34.38, 43.28, 5.62
Rate = 6007.13 Hz
---------------------------------------------------------------------
ax = -63.84 ay = -0.49 az = 934.02 mg
gx = -0.11 gy = -0.00 gz = -0.04 deg/s
mx = -121 my = -120 mz = 377 mG
q0 = 0.93 qx = -0.06 qy = 0.10 qz = 0.36
Yaw, Pitch, Roll: 36.31, 13.50, -2.08
Rate = 6061.65 Hz
---------------------------------------------------------------------
ax = -62.19 ay = 0.06 az = 936.58 mg
gx = -0.11 gy = 0.07 gz = 0.04 deg/s
mx = -128 my = -130 mz = 374 mG
q0 = 0.84 qx = -0.06 qy = 0.08 qz = 0.54
Yaw, Pitch, Roll: 59.63, 11.33, -0.26
Rate = 6016.45 Hz
---------------------------------------------------------------------
ax = -63.29 ay = 0.06 az = 933.04 mg
gx = -0.13 gy = 0.02 gz = 0.09 deg/s
mx = -128 my = -148 mz = 374 mG
q0 = 0.74 qx = -0.05 qy = 0.07 qz = 0.66
Yaw, Pitch, Roll: 77.90, 9.82, 1.02
Rate = 6075.08 Hz
---------------------------------------------------------------------
ax = -67.08 ay = 0.73 az = 934.81 mg
gx = -0.11 gy = 0.02 gz = 0.03 deg/s
mx = -115 my = -139 mz = 376 mG
q0 = 0.66 qx = -0.04 qy = 0.05 qz = 0.75
Yaw, Pitch, Roll: 91.83, 7.77, 1.26
Rate = 6014.19 Hz
---------------------------------------------------------------------
ax = -66.22 ay = -2.50 az = 937.01 mg
gx = -0.09 gy = 0.05 gz = 0.06 deg/s
mx = -121 my = -123 mz = 381 mG
q0 = 0.59 qx = -0.04 qy = 0.04 qz = 0.81
Yaw, Pitch, Roll: 102.03, 6.29, 1.06
Rate = 6075.62 Hz
---------------------------------------------------------------------
ax = -62.56 ay = -0.06 az = 936.40 mg
gx = 0.02 gy = 0.13 gz = 0.06 deg/s
mx = -112 my = -132 mz = 386 mG
q0 = 0.54 qx = -0.04 qy = 0.03 qz = 0.84
Yaw, Pitch, Roll: 109.26, 5.65, 0.96
Rate = 5996.22 Hz
---------------------------------------------------------------------
ax = -63.48 ay = -2.01 az = 935.12 mg
gx = -0.05 gy = 0.09 gz = -0.02 deg/s
mx = -135 my = -123 mz = 363 mG
q0 = 0.51 qx = -0.03 qy = 0.03 qz = 0.86
Yaw, Pitch, Roll: 113.21, 4.85, 0.49
Rate = 6005.31 Hz
---------------------------------------------------------------------
ax = -64.51 ay = -0.67 az = 934.94 mg
gx = -0.11 gy = 0.08 gz = 0.13 deg/s
mx = -124 my = -116 mz = 374 mG
q0 = 0.49 qx = -0.03 qy = 0.02 qz = 0.87
Yaw, Pitch, Roll: 115.43, 4.47, 0.34
Rate = 6065.58 Hz
---------------------------------------------------------------------
ax = -64.33 ay = 1.40 az = 935.36 mg
gx = -0.06 gy = -0.02 gz = -0.05 deg/s
mx = -131 my = -105 mz = 370 mG
q0 = 0.48 qx = -0.03 qy = 0.02 qz = 0.88
Yaw, Pitch, Roll: 116.74, 4.13, 0.14
Rate = 6012.50 Hz
---------------------------------------------------------------------
ax = -63.17 ay = -2.62 az = 939.33 mg
gx = -0.05 gy = 0.05 gz = 0.00 deg/s
mx = -126 my = -118 mz = 382 mG
q0 = 0.47 qx = -0.03 qy = 0.02 qz = 0.88
Yaw, Pitch, Roll: 117.65, 4.24, 0.19
Rate = 6074.97 Hz
---------------------------------------------------------------------
ax = -65.43 ay = -0.12 az = 934.08 mg
gx = -0.02 gy = 0.11 gz = -0.02 deg/s
mx = -146 my = -127 mz = 374 mG
q0 = 0.47 qx = -0.03 qy = 0.02 qz = 0.88
Yaw, Pitch, Roll: 118.06, 4.08, 0.03
Rate = 6013.12 Hz
---------------------------------------------------------------------
ax = -63.66 ay = -0.92 az = 938.42 mg
gx = -0.10 gy = 0.06 gz = 0.02 deg/s
mx = -139 my = -120 mz = 370 mG
q0 = 0.46 qx = -0.03 qy = 0.02 qz = 0.89
Yaw, Pitch, Roll: 118.77, 4.14, 0.12
Rate = 6075.12 Hz
---------------------------------------------------------------------
ax = -63.90 ay = 2.69 az = 935.55 mg
gx = -0.07 gy = 0.08 gz = 0.00 deg/s
mx = -124 my = -109 mz = 370 mG
q0 = 0.46 qx = -0.03 qy = 0.02 qz = 0.89
Yaw, Pitch, Roll: 118.76, 4.10, 0.15
Rate = 5995.27 Hz
---------------------------------------------------------------------
ax = -64.51 ay = 0.12 az = 935.49 mg
gx = -0.13 gy = 0.05 gz = 0.07 deg/s
mx = -133 my = -125 mz = 369 mG
q0 = 0.46 qx = -0.03 qy = 0.02 qz = 0.89
Yaw, Pitch, Roll: 118.81, 3.96, -0.00
Rate = 6075.85 Hz
---------------------------------------------------------------------
ax = -64.27 ay = -1.34 az = 935.18 mg
gx = -0.10 gy = 0.09 gz = 0.10 deg/s
mx = -144 my = -118 mz = 376 mG
q0 = 0.46 qx = -0.03 qy = 0.01 qz = 0.89
Yaw, Pitch, Roll: 118.82, 3.78, -0.13
Rate = 6008.87 Hz
---------------------------------------------------------------------
ax = -64.09 ay = -1.46 az = 933.35 mg
gx = -0.06 gy = 0.10 gz = 0.02 deg/s
mx = -140 my = -111 mz = 372 mG
q0 = 0.46 qx = -0.03 qy = 0.01 qz = 0.89
Yaw, Pitch, Roll: 118.92, 3.84, -0.07
Rate = 6075.31 Hz
---------------------------------------------------------------------
ax = -66.28 ay = -0.92 az = 934.63 mg
gx = -0.07 gy = 0.07 gz = 0.00 deg/s
mx = -151 my = -118 mz = 382 mG
q0 = 0.46 qx = -0.03 qy = 0.01 qz = 0.89
Yaw, Pitch, Roll: 118.74, 3.80, -0.14
Rate = 6044.13 Hz
---------------------------------------------------------------------
ax = -67.02 ay = 0.85 az = 932.50 mg
gx = -0.08 gy = 0.03 gz = 0.08 deg/s
mx = -135 my = -105 mz = 374 mG
q0 = 0.46 qx = -0.03 qy = 0.02 qz = 0.89
Yaw, Pitch, Roll: 118.91, 4.06, 0.07
Rate = 6063.93 Hz
---------------------------------------------------------------------
ax = -66.59 ay = -0.79 az = 932.50 mg
gx = -0.04 gy = -0.03 gz = 0.04 deg/s
mx = -130 my = -111 mz = 379 mG
q0 = 0.46 qx = -0.03 qy = 0.02 qz = 0.89
Yaw, Pitch, Roll: 119.03, 4.05, 0.03
Rate = 6051.77 Hz
---------------------------------------------------------------------
ax = -65.12 ay = 0.18 az = 938.05 mg
gx = -0.19 gy = 0.04 gz = 0.06 deg/s
mx = -158 my = -118 mz = 376 mG
q0 = 0.46 qx = -0.03 qy = 0.02 qz = 0.89
Yaw, Pitch, Roll: 118.93, 4.05, -0.01
Rate = 6019.22 Hz
---------------------------------------------------------------------
ax = -67.81 ay = 7.63 az = 934.75 mg
gx = 0.14 gy = 0.08 gz = 0.02 deg/s
mx = -137 my = -132 mz = 372 mG
q0 = 0.46 qx = -0.03 qy = 0.02 qz = 0.89
Yaw, Pitch, Roll: 118.90, 4.07, 0.06
Rate = 6075.66 Hz
---------------------------------------------------------------------
ax = -63.48 ay = 3.11 az = 933.84 mg
gx = -0.43 gy = 0.02 gz = 0.08 deg/s
mx = -122 my = -111 mz = 379 mG
q0 = 0.46 qx = -0.03 qy = 0.02 qz = 0.88
Yaw, Pitch, Roll: 118.72, 3.98, 0.12
Rate = 6033.06 Hz
---------------------------------------------------------------------
ax = -63.72 ay = 1.89 az = 935.24 mg
gx = -0.13 gy = 0.11 gz = 0.11 deg/s
mx = -126 my = -107 mz = 389 mG
q0 = 0.46 qx = -0.03 qy = 0.02 qz = 0.88
Yaw, Pitch, Roll: 118.69, 4.11, 0.06
Rate = 6063.83 Hz
---------------------------------------------------------------------
ax = -66.59 ay = -1.16 az = 932.56 mg
gx = 0.06 gy = 0.08 gz = 0.00 deg/s
mx = -126 my = -107 mz = 372 mG
q0 = 0.47 qx = -0.03 qy = 0.01 qz = 0.88
Yaw, Pitch, Roll: 118.53, 3.79, -0.17
Rate = 6053.34 Hz
---------------------------------------------------------------------
ax = -67.32 ay = -2.14 az = 932.50 mg
gx = -0.11 gy = 0.04 gz = -0.00 deg/s
mx = -126 my = -118 mz = 382 mG
q0 = 0.47 qx = -0.03 qy = 0.02 qz = 0.88
Yaw, Pitch, Roll: 118.55, 4.03, -0.01
Rate = 6067.06 Hz
---------------------------------------------------------------------
ax = -38.21 ay = 40.71 az = 933.23 mg
gx = -1.78 gy = 1.59 gz = 97.27 deg/s
mx = -115 my = -121 mz = 376 mG
q0 = 0.41 qx = -0.03 qy = 0.02 qz = 0.91
Yaw, Pitch, Roll: 125.96, 3.45, 0.66
Rate = 5628.82 Hz
---------------------------------------------------------------------
ax = -56.34 ay = 10.99 az = 931.21 mg
gx = 5.08 gy = 0.14 gz = 80.84 deg/s
mx = -43 my = -24 mz = 379 mG
q0 = -0.24 qx = -0.02 qy = -0.03 qz = 0.97
Yaw, Pitch, Roll: -158.72, 2.37, -2.45
Rate = 6062.89 Hz
---------------------------------------------------------------------
ax = -56.27 ay = -39.12 az = 938.35 mg
gx = -2.11 gy = 0.05 gz = 2.46 deg/s
mx = -51 my = -13 mz = 372 mG
q0 = -0.20 qx = -0.00 qy = -0.04 qz = 0.98
Yaw, Pitch, Roll: -162.69, 1.67, -3.86
Rate = 6029.79 Hz
---------------------------------------------------------------------
ax = -61.65 ay = -2.99 az = 937.74 mg
gx = -0.26 gy = 0.02 gz = -1.28 deg/s
mx = -51 my = -17 mz = 400 mG
q0 = -0.10 qx = -0.01 qy = -0.03 qz = 0.99
Yaw, Pitch, Roll: -173.96, 1.75, -2.89
Rate = 6075.68 Hz
---------------------------------------------------------------------
ax = -62.81 ay = -1.28 az = 935.06 mg
gx = -0.06 gy = 0.06 gz = 0.05 deg/s
mx = -54 my = -21 mz = 369 mG
q0 = 0.03 qx = -0.01 qy = -0.02 qz = 1.00
Yaw, Pitch, Roll: 170.70, 1.45, -2.72
Rate = 6029.47 Hz
---------------------------------------------------------------------
ax = -63.72 ay = -1.59 az = 934.20 mg
gx = -0.04 gy = -0.00 gz = 0.02 deg/s
mx = -51 my = -6 mz = 386 mG
q0 = 0.20 qx = -0.01 qy = -0.01 qz = 0.98
Yaw, Pitch, Roll: 150.75, 1.21, -1.67
Rate = 6065.12 Hz
---------------------------------------------------------------------
ax = -60.67 ay = -0.24 az = 934.27 mg
gx = -0.13 gy = 0.06 gz = -0.03 deg/s
mx = -42 my = -12 mz = 384 mG
q0 = 0.39 qx = -0.02 qy = -0.00 qz = 0.92
Yaw, Pitch, Roll: 127.80, 1.93, -0.94
Rate = 6042.25 Hz
---------------------------------------------------------------------
ax = -63.23 ay = -1.77 az = 932.37 mg
gx = 0.00 gy = 0.10 gz = 0.06 deg/s
mx = -56 my = -12 mz = 377 mG
q0 = 0.56 qx = -0.02 qy = 0.00 qz = 0.83
Yaw, Pitch, Roll: 106.16, 2.14, -0.27
Rate = 6076.12 Hz
---------------------------------------------------------------------
ax = -61.28 ay = -1.04 az = 936.22 mg
gx = 0.00 gy = 0.02 gz = -0.02 deg/s
mx = -47 my = -17 mz = 393 mG
q0 = 0.67 qx = -0.02 qy = 0.02 qz = 0.74
Yaw, Pitch, Roll: 90.03, 2.98, -0.04
Rate = 6044.29 Hz
---------------------------------------------------------------------
ax = -60.79 ay = -1.77 az = 935.42 mg
gx = -0.05 gy = 0.11 gz = 0.09 deg/s
mx = -56 my = 2 mz = 374 mG
q0 = 0.73 qx = -0.02 qy = 0.02 qz = 0.68
Yaw, Pitch, Roll: 80.29, 2.93, 0.13
Rate = 6027.94 Hz
---------------------------------------------------------------------
ax = -60.85 ay = -2.38 az = 933.04 mg
gx = 0.00 gy = 0.05 gz = 0.03 deg/s
mx = -61 my = -6 mz = 382 mG
q0 = 0.76 qx = -0.02 qy = 0.02 qz = 0.65
Yaw, Pitch, Roll: 75.33, 3.41, 0.01
Rate = 6066.50 Hz
---------------------------------------------------------------------
ax = -60.06 ay = -1.22 az = 932.19 mg
gx = -0.03 gy = 0.03 gz = -0.04 deg/s
mx = -60 my = -26 mz = 384 mG
q0 = 0.77 qx = -0.02 qy = 0.02 qz = 0.63
Yaw, Pitch, Roll: 72.83, 3.61, -0.05
Rate = 6030.10 Hz
---------------------------------------------------------------------
ax = -62.93 ay = -1.28 az = 933.17 mg
gx = -0.08 gy = 0.03 gz = 0.08 deg/s
mx = -47 my = -3 mz = 376 mG
q0 = 0.78 qx = -0.02 qy = 0.03 qz = 0.62
Yaw, Pitch, Roll: 71.23, 3.81, -0.06
Rate = 6074.03 Hz
---------------------------------------------------------------------
ax = -61.40 ay = -0.85 az = 935.85 mg
gx = 0.00 gy = 0.06 gz = -0.00 deg/s
mx = -43 my = -17 mz = 393 mG
q0 = 0.79 qx = -0.02 qy = 0.03 qz = 0.61
Yaw, Pitch, Roll: 69.93, 3.96, -0.08
Rate = 6044.62 Hz
---------------------------------------------------------------------
ax = -63.84 ay = -2.62 az = 933.72 mg
gx = -0.04 gy = 0.09 gz = 0.00 deg/s
mx = -49 my = -12 mz = 367 mG
q0 = 0.80 qx = -0.02 qy = 0.03 qz = 0.60
Yaw, Pitch, Roll: 67.66, 4.02, -0.16
Rate = 6075.50 Hz
---------------------------------------------------------------------
ax = -64.15 ay = -0.18 az = 932.86 mg
gx = -0.02 gy = 0.02 gz = 0.02 deg/s
mx = -36 my = -21 mz = 372 mG
q0 = 0.81 qx = -0.02 qy = 0.03 qz = 0.59
Yaw, Pitch, Roll: 66.22, 4.04, -0.05
Rate = 6045.68 Hz
---------------------------------------------------------------------
ax = -61.16 ay = -1.40 az = 937.19 mg
gx = 0.02 gy = 0.05 gz = 0.02 deg/s
mx = -52 my = 5 mz = 381 mG
q0 = 0.81 qx = -0.02 qy = 0.03 qz = 0.59
Yaw, Pitch, Roll: 66.54, 3.83, -0.13
Rate = 6061.86 Hz
---------------------------------------------------------------------
ax = -59.39 ay = -2.08 az = 936.83 mg
gx = -0.03 gy = 0.00 gz = 0.11 deg/s
mx = -38 my = -8 mz = 384 mG
q0 = 0.80 qx = -0.02 qy = 0.02 qz = 0.60
Yaw, Pitch, Roll: 67.35, 3.52, 0.00
Rate = 6027.97 Hz

As you can see there is a stabilization period at the begining. Yaw goes to 118 degree. Then I turned the board to 90 degree left and again a stabilization period until degree 66. I don't know where the problem is.

My first usage of IMU's and I will use the components for gesture recognition from wrist.

[kriswiner]

How did you calibrate the sensors?

On Sat, Feb 24, 2018 at 4:51 AM, Berat Özbay notifications@github.com wrote:

Hello,

I have a sparkfun MPU9250 breakout board and a teensy 3.5. When I tried the example "MPU9250BasicAHRS_t3" I take the this kind of result.

ax = -61.89 ay = 0.79 az = 930.85 mg gx = -0.02 gy = 0.08 gz = 0.00 deg/s mx = -119 my = -125 mz = 382 mG q0 = 0.27 qx = -0.30 qy = 0.91 qz = 0.14 Yaw, Pitch, Roll: -151.28, 34.77, 174.09 Rate = 0.17 Hz

ax = -64.51 ay = 0.49 az = 936.34 mg gx = -0.05 gy = 0.05 gz = 0.07 deg/s mx = -135 my = -137 mz = 367 mG q0 = 0.33 qx = -0.28 qy = 0.89 qz = 0.15 Yaw, Pitch, Roll: -152.97, 41.85, 173.53 Rate = 6015.74 Hz

ax = -63.96 ay = 0.55 az = 935.73 mg gx = -0.13 gy = 0.08 gz = 0.06 deg/s mx = -124 my = -123 mz = 374 mG q0 = 0.39 qx = -0.27 qy = 0.86 qz = 0.17 Yaw, Pitch, Roll: -155.29, 50.34, 172.48 Rate = 6061.90 Hz

ax = -64.82 ay = -1.53 az = 937.19 mg gx = -0.08 gy = 0.00 gz = -0.00 deg/s mx = -119 my = -128 mz = 389 mG q0 = 0.47 qx = -0.24 qy = 0.83 qz = 0.19 Yaw, Pitch, Roll: -159.16, 60.73, 170.03 Rate = 6017.94 Hz

ax = -64.27 ay = -0.31 az = 936.28 mg gx = -0.04 gy = 0.06 gz = 0.05 deg/s mx = -139 my = -127 mz = 377 mG q0 = 0.56 qx = -0.21 qy = 0.77 qz = 0.21 Yaw, Pitch, Roll: -168.56, 73.20, 162.11 Rate = 6064.35 Hz

ax = -64.76 ay = -1.10 az = 932.19 mg gx = 0.02 gy = 0.10 gz = 0.02 deg/s mx = -117 my = -130 mz = 395 mG q0 = 0.67 qx = -0.17 qy = 0.68 qz = 0.24 Yaw, Pitch, Roll: 116.67, 84.48, 88.63 Rate = 6000.43 Hz

ax = -62.19 ay = 1.10 az = 937.07 mg gx = -0.13 gy = 0.09 gz = -0.00 deg/s mx = -122 my = -128 mz = 369 mG q0 = 0.78 qx = -0.13 qy = 0.56 qz = 0.27 Yaw, Pitch, Roll: 43.41, 68.89, 15.96 Rate = 6062.08 Hz

ax = -63.96 ay = -1.34 az = 935.49 mg gx = -0.10 gy = -0.00 gz = 0.04 deg/s mx = -128 my = -123 mz = 377 mG q0 = 0.88 qx = -0.08 qy = 0.36 qz = 0.30 Yaw, Pitch, Roll: 34.38, 43.28, 5.62 Rate = 6007.13 Hz

ax = -63.84 ay = -0.49 az = 934.02 mg gx = -0.11 gy = -0.00 gz = -0.04 deg/s mx = -121 my = -120 mz = 377 mG q0 = 0.93 qx = -0.06 qy = 0.10 qz = 0.36 Yaw, Pitch, Roll: 36.31, 13.50, -2.08 Rate = 6061.65 Hz

ax = -62.19 ay = 0.06 az = 936.58 mg gx = -0.11 gy = 0.07 gz = 0.04 deg/s mx = -128 my = -130 mz = 374 mG q0 = 0.84 qx = -0.06 qy = 0.08 qz = 0.54 Yaw, Pitch, Roll: 59.63, 11.33, -0.26 Rate = 6016.45 Hz

ax = -63.29 ay = 0.06 az = 933.04 mg gx = -0.13 gy = 0.02 gz = 0.09 deg/s mx = -128 my = -148 mz = 374 mG q0 = 0.74 qx = -0.05 qy = 0.07 qz = 0.66 Yaw, Pitch, Roll: 77.90, 9.82, 1.02 Rate = 6075.08 Hz

ax = -67.08 ay = 0.73 az = 934.81 mg gx = -0.11 gy = 0.02 gz = 0.03 deg/s mx = -115 my = -139 mz = 376 mG q0 = 0.66 qx = -0.04 qy = 0.05 qz = 0.75 Yaw, Pitch, Roll: 91.83, 7.77, 1.26 Rate = 6014.19 Hz

ax = -66.22 ay = -2.50 az = 937.01 mg gx = -0.09 gy = 0.05 gz = 0.06 deg/s mx = -121 my = -123 mz = 381 mG q0 = 0.59 qx = -0.04 qy = 0.04 qz = 0.81 Yaw, Pitch, Roll: 102.03, 6.29, 1.06 Rate = 6075.62 Hz

ax = -62.56 ay = -0.06 az = 936.40 mg gx = 0.02 gy = 0.13 gz = 0.06 deg/s mx = -112 my = -132 mz = 386 mG q0 = 0.54 qx = -0.04 qy = 0.03 qz = 0.84 Yaw, Pitch, Roll: 109.26, 5.65, 0.96 Rate = 5996.22 Hz

ax = -63.48 ay = -2.01 az = 935.12 mg gx = -0.05 gy = 0.09 gz = -0.02 deg/s mx = -135 my = -123 mz = 363 mG q0 = 0.51 qx = -0.03 qy = 0.03 qz = 0.86 Yaw, Pitch, Roll: 113.21, 4.85, 0.49 Rate = 6005.31 Hz

ax = -64.51 ay = -0.67 az = 934.94 mg gx = -0.11 gy = 0.08 gz = 0.13 deg/s mx = -124 my = -116 mz = 374 mG q0 = 0.49 qx = -0.03 qy = 0.02 qz = 0.87 Yaw, Pitch, Roll: 115.43, 4.47, 0.34 Rate = 6065.58 Hz

ax = -64.33 ay = 1.40 az = 935.36 mg gx = -0.06 gy = -0.02 gz = -0.05 deg/s mx = -131 my = -105 mz = 370 mG q0 = 0.48 qx = -0.03 qy = 0.02 qz = 0.88 Yaw, Pitch, Roll: 116.74, 4.13, 0.14 Rate = 6012.50 Hz

ax = -63.17 ay = -2.62 az = 939.33 mg gx = -0.05 gy = 0.05 gz = 0.00 deg/s mx = -126 my = -118 mz = 382 mG q0 = 0.47 qx = -0.03 qy = 0.02 qz = 0.88 Yaw, Pitch, Roll: 117.65, 4.24, 0.19 Rate = 6074.97 Hz

ax = -65.43 ay = -0.12 az = 934.08 mg gx = -0.02 gy = 0.11 gz = -0.02 deg/s mx = -146 my = -127 mz = 374 mG q0 = 0.47 qx = -0.03 qy = 0.02 qz = 0.88 Yaw, Pitch, Roll: 118.06, 4.08, 0.03 Rate = 6013.12 Hz

ax = -63.66 ay = -0.92 az = 938.42 mg gx = -0.10 gy = 0.06 gz = 0.02 deg/s mx = -139 my = -120 mz = 370 mG q0 = 0.46 qx = -0.03 qy = 0.02 qz = 0.89 Yaw, Pitch, Roll: 118.77, 4.14, 0.12 Rate = 6075.12 Hz

ax = -63.90 ay = 2.69 az = 935.55 mg gx = -0.07 gy = 0.08 gz = 0.00 deg/s mx = -124 my = -109 mz = 370 mG q0 = 0.46 qx = -0.03 qy = 0.02 qz = 0.89 Yaw, Pitch, Roll: 118.76, 4.10, 0.15 Rate = 5995.27 Hz

ax = -64.51 ay = 0.12 az = 935.49 mg gx = -0.13 gy = 0.05 gz = 0.07 deg/s mx = -133 my = -125 mz = 369 mG q0 = 0.46 qx = -0.03 qy = 0.02 qz = 0.89 Yaw, Pitch, Roll: 118.81, 3.96, -0.00 Rate = 6075.85 Hz

ax = -64.27 ay = -1.34 az = 935.18 mg gx = -0.10 gy = 0.09 gz = 0.10 deg/s mx = -144 my = -118 mz = 376 mG q0 = 0.46 qx = -0.03 qy = 0.01 qz = 0.89 Yaw, Pitch, Roll: 118.82, 3.78, -0.13 Rate = 6008.87 Hz

ax = -64.09 ay = -1.46 az = 933.35 mg gx = -0.06 gy = 0.10 gz = 0.02 deg/s mx = -140 my = -111 mz = 372 mG q0 = 0.46 qx = -0.03 qy = 0.01 qz = 0.89 Yaw, Pitch, Roll: 118.92, 3.84, -0.07 Rate = 6075.31 Hz

ax = -66.28 ay = -0.92 az = 934.63 mg gx = -0.07 gy = 0.07 gz = 0.00 deg/s mx = -151 my = -118 mz = 382 mG q0 = 0.46 qx = -0.03 qy = 0.01 qz = 0.89 Yaw, Pitch, Roll: 118.74, 3.80, -0.14 Rate = 6044.13 Hz

ax = -67.02 ay = 0.85 az = 932.50 mg gx = -0.08 gy = 0.03 gz = 0.08 deg/s mx = -135 my = -105 mz = 374 mG q0 = 0.46 qx = -0.03 qy = 0.02 qz = 0.89 Yaw, Pitch, Roll: 118.91, 4.06, 0.07 Rate = 6063.93 Hz

ax = -66.59 ay = -0.79 az = 932.50 mg gx = -0.04 gy = -0.03 gz = 0.04 deg/s mx = -130 my = -111 mz = 379 mG q0 = 0.46 qx = -0.03 qy = 0.02 qz = 0.89 Yaw, Pitch, Roll: 119.03, 4.05, 0.03 Rate = 6051.77 Hz

ax = -65.12 ay = 0.18 az = 938.05 mg gx = -0.19 gy = 0.04 gz = 0.06 deg/s mx = -158 my = -118 mz = 376 mG q0 = 0.46 qx = -0.03 qy = 0.02 qz = 0.89 Yaw, Pitch, Roll: 118.93, 4.05, -0.01 Rate = 6019.22 Hz

ax = -67.81 ay = 7.63 az = 934.75 mg gx = 0.14 gy = 0.08 gz = 0.02 deg/s mx = -137 my = -132 mz = 372 mG q0 = 0.46 qx = -0.03 qy = 0.02 qz = 0.89 Yaw, Pitch, Roll: 118.90, 4.07, 0.06 Rate = 6075.66 Hz

ax = -63.48 ay = 3.11 az = 933.84 mg gx = -0.43 gy = 0.02 gz = 0.08 deg/s mx = -122 my = -111 mz = 379 mG q0 = 0.46 qx = -0.03 qy = 0.02 qz = 0.88 Yaw, Pitch, Roll: 118.72, 3.98, 0.12 Rate = 6033.06 Hz

ax = -63.72 ay = 1.89 az = 935.24 mg gx = -0.13 gy = 0.11 gz = 0.11 deg/s mx = -126 my = -107 mz = 389 mG q0 = 0.46 qx = -0.03 qy = 0.02 qz = 0.88 Yaw, Pitch, Roll: 118.69, 4.11, 0.06 Rate = 6063.83 Hz

ax = -66.59 ay = -1.16 az = 932.56 mg gx = 0.06 gy = 0.08 gz = 0.00 deg/s mx = -126 my = -107 mz = 372 mG q0 = 0.47 qx = -0.03 qy = 0.01 qz = 0.88 Yaw, Pitch, Roll: 118.53, 3.79, -0.17 Rate = 6053.34 Hz

ax = -67.32 ay = -2.14 az = 932.50 mg gx = -0.11 gy = 0.04 gz = -0.00 deg/s mx = -126 my = -118 mz = 382 mG q0 = 0.47 qx = -0.03 qy = 0.02 qz = 0.88 Yaw, Pitch, Roll: 118.55, 4.03, -0.01 Rate = 6067.06 Hz

ax = -38.21 ay = 40.71 az = 933.23 mg gx = -1.78 gy = 1.59 gz = 97.27 deg/s mx = -115 my = -121 mz = 376 mG q0 = 0.41 qx = -0.03 qy = 0.02 qz = 0.91 Yaw, Pitch, Roll: 125.96, 3.45, 0.66 Rate = 5628.82 Hz

ax = -56.34 ay = 10.99 az = 931.21 mg gx = 5.08 gy = 0.14 gz = 80.84 deg/s mx = -43 my = -24 mz = 379 mG q0 = -0.24 qx = -0.02 qy = -0.03 qz = 0.97 Yaw, Pitch, Roll: -158.72, 2.37, -2.45 Rate = 6062.89 Hz

ax = -56.27 ay = -39.12 az = 938.35 mg gx = -2.11 gy = 0.05 gz = 2.46 deg/s mx = -51 my = -13 mz = 372 mG q0 = -0.20 qx = -0.00 qy = -0.04 qz = 0.98 Yaw, Pitch, Roll: -162.69, 1.67, -3.86 Rate = 6029.79 Hz

ax = -61.65 ay = -2.99 az = 937.74 mg gx = -0.26 gy = 0.02 gz = -1.28 deg/s mx = -51 my = -17 mz = 400 mG q0 = -0.10 qx = -0.01 qy = -0.03 qz = 0.99 Yaw, Pitch, Roll: -173.96, 1.75, -2.89 Rate = 6075.68 Hz

ax = -62.81 ay = -1.28 az = 935.06 mg gx = -0.06 gy = 0.06 gz = 0.05 deg/s mx = -54 my = -21 mz = 369 mG q0 = 0.03 qx = -0.01 qy = -0.02 qz = 1.00 Yaw, Pitch, Roll: 170.70, 1.45, -2.72 Rate = 6029.47 Hz

ax = -63.72 ay = -1.59 az = 934.20 mg gx = -0.04 gy = -0.00 gz = 0.02 deg/s mx = -51 my = -6 mz = 386 mG q0 = 0.20 qx = -0.01 qy = -0.01 qz = 0.98 Yaw, Pitch, Roll: 150.75, 1.21, -1.67 Rate = 6065.12 Hz

ax = -60.67 ay = -0.24 az = 934.27 mg gx = -0.13 gy = 0.06 gz = -0.03 deg/s mx = -42 my = -12 mz = 384 mG q0 = 0.39 qx = -0.02 qy = -0.00 qz = 0.92 Yaw, Pitch, Roll: 127.80, 1.93, -0.94 Rate = 6042.25 Hz

ax = -63.23 ay = -1.77 az = 932.37 mg gx = 0.00 gy = 0.10 gz = 0.06 deg/s mx = -56 my = -12 mz = 377 mG q0 = 0.56 qx = -0.02 qy = 0.00 qz = 0.83 Yaw, Pitch, Roll: 106.16, 2.14, -0.27 Rate = 6076.12 Hz

ax = -61.28 ay = -1.04 az = 936.22 mg gx = 0.00 gy = 0.02 gz = -0.02 deg/s mx = -47 my = -17 mz = 393 mG q0 = 0.67 qx = -0.02 qy = 0.02 qz = 0.74 Yaw, Pitch, Roll: 90.03, 2.98, -0.04 Rate = 6044.29 Hz

ax = -60.79 ay = -1.77 az = 935.42 mg gx = -0.05 gy = 0.11 gz = 0.09 deg/s mx = -56 my = 2 mz = 374 mG q0 = 0.73 qx = -0.02 qy = 0.02 qz = 0.68 Yaw, Pitch, Roll: 80.29, 2.93, 0.13 Rate = 6027.94 Hz

ax = -60.85 ay = -2.38 az = 933.04 mg gx = 0.00 gy = 0.05 gz = 0.03 deg/s mx = -61 my = -6 mz = 382 mG q0 = 0.76 qx = -0.02 qy = 0.02 qz = 0.65 Yaw, Pitch, Roll: 75.33, 3.41, 0.01 Rate = 6066.50 Hz

ax = -60.06 ay = -1.22 az = 932.19 mg gx = -0.03 gy = 0.03 gz = -0.04 deg/s mx = -60 my = -26 mz = 384 mG q0 = 0.77 qx = -0.02 qy = 0.02 qz = 0.63 Yaw, Pitch, Roll: 72.83, 3.61, -0.05 Rate = 6030.10 Hz

ax = -62.93 ay = -1.28 az = 933.17 mg gx = -0.08 gy = 0.03 gz = 0.08 deg/s mx = -47 my = -3 mz = 376 mG q0 = 0.78 qx = -0.02 qy = 0.03 qz = 0.62 Yaw, Pitch, Roll: 71.23, 3.81, -0.06 Rate = 6074.03 Hz

ax = -61.40 ay = -0.85 az = 935.85 mg gx = 0.00 gy = 0.06 gz = -0.00 deg/s mx = -43 my = -17 mz = 393 mG q0 = 0.79 qx = -0.02 qy = 0.03 qz = 0.61 Yaw, Pitch, Roll: 69.93, 3.96, -0.08 Rate = 6044.62 Hz

ax = -63.84 ay = -2.62 az = 933.72 mg gx = -0.04 gy = 0.09 gz = 0.00 deg/s mx = -49 my = -12 mz = 367 mG q0 = 0.80 qx = -0.02 qy = 0.03 qz = 0.60 Yaw, Pitch, Roll: 67.66, 4.02, -0.16 Rate = 6075.50 Hz

ax = -64.15 ay = -0.18 az = 932.86 mg gx = -0.02 gy = 0.02 gz = 0.02 deg/s mx = -36 my = -21 mz = 372 mG q0 = 0.81 qx = -0.02 qy = 0.03 qz = 0.59 Yaw, Pitch, Roll: 66.22, 4.04, -0.05 Rate = 6045.68 Hz

ax = -61.16 ay = -1.40 az = 937.19 mg gx = 0.02 gy = 0.05 gz = 0.02 deg/s mx = -52 my = 5 mz = 381 mG q0 = 0.81 qx = -0.02 qy = 0.03 qz = 0.59 Yaw, Pitch, Roll: 66.54, 3.83, -0.13 Rate = 6061.86 Hz

ax = -59.39 ay = -2.08 az = 936.83 mg gx = -0.03 gy = 0.00 gz = 0.11 deg/s mx = -38 my = -8 mz = 384 mG q0 = 0.80 qx = -0.02 qy = 0.02 qz = 0.60 Yaw, Pitch, Roll: 67.35, 3.52, 0.00 Rate = 6027.97 Hz

As you can see there is a stabilization period at the begining. Yaw goes to 118 degree. Then I turned the board to 90 degree left and again a stabilization period until degree 66. I don't know where the problem is.

My first usage of IMU's and I will use the components for gesture recognition from wrist.

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[beratozbay]

I didn't change the example code too much. My calibrate function is

void calibrateMPU9250(float * dest1, float * dest2)
{  
  uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data
  uint16_t ii, packet_count, fifo_count;
  int32_t gyro_bias[3]  = {0, 0, 0}, accel_bias[3] = {0, 0, 0};

 // reset device
  writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
  delay(100);

 // get stable time source; Auto select clock source to be PLL gyroscope reference if ready 
 // else use the internal oscillator, bits 2:0 = 001
  writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01);  
  writeByte(MPU9250_ADDRESS, PWR_MGMT_2, 0x00);
  delay(200);                                    

// Configure device for bias calculation
  writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x00);   // Disable all interrupts
  writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00);      // Disable FIFO
  writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00);   // Turn on internal clock source
  writeByte(MPU9250_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master
  writeByte(MPU9250_ADDRESS, USER_CTRL, 0x00);    // Disable FIFO and I2C master modes
  writeByte(MPU9250_ADDRESS, USER_CTRL, 0x0C);    // Reset FIFO and DMP
  delay(15);

// Configure MPU6050 gyro and accelerometer for bias calculation
  writeByte(MPU9250_ADDRESS, CONFIG, 0x01);      // Set low-pass filter to 188 Hz
  writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00);  // Set sample rate to 1 kHz
  writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00);  // Set gyro full-scale to 250 degrees per second, maximum sensitivity
  writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity

  uint16_t  gyrosensitivity  = 131;   // = 131 LSB/degrees/sec
  uint16_t  accelsensitivity = 16384;  // = 16384 LSB/g

  /*  // Configure FIFO to capture accelerometer and gyro data for bias calculation
  writeByte(MPU9250_ADDRESS, USER_CTRL, 0x40);   // Enable FIFO  
  writeByte(MPU9250_ADDRESS, FIFO_EN, 0x78);     // Enable gyro and accelerometer sensors for FIFO  (max size 512 bytes in MPU-9150)
  delay(40); // accumulate 40 samples in 40 milliseconds = 480 bytes

// At end of sample accumulation, turn off FIFO sensor read
  writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00);        // Disable gyro and accelerometer sensors for FIFO
  readBytes(MPU9250_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count
  fifo_count = ((uint16_t)data[0] << 8) | data[1];
  packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging*/

  if (digitalRead(calibrateEnablePin) == HIGH) {
    delay(500);
    packet_count = 10000;
    for (ii = 0; ii < packet_count; ii++) {
      int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0};
      //readBytes(MPU9250_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging

      readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &data[0]);  // Read the six raw data registers sequentially into data array
      readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &data[6]);  // Read the six raw data registers sequentially into data array
      accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1]  ) ;  // Form signed 16-bit integer for each sample in FIFO
      accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3]  ) ;
      accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5]  ) ;    
      gyro_temp[0]  = (int16_t) (((int16_t)data[6] << 8) | data[7]  ) ;
      gyro_temp[1]  = (int16_t) (((int16_t)data[8] << 8) | data[9]  ) ;
      gyro_temp[2]  = (int16_t) (((int16_t)data[10] << 8) | data[11]) ;

      //Serial.println("TEMP DATA :   " + String(accel_temp[0]) + " " + String(accel_temp[1]) + " " + String(accel_temp[2]) + " " + String(gyro_temp[0]) + " " + String(gyro_temp[1]) + " " + String(gyro_temp[2]));

      accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
      accel_bias[1] += (int32_t) accel_temp[1];
      accel_bias[2] += (int32_t) accel_temp[2];
      gyro_bias[0]  += (int32_t) gyro_temp[0];
      gyro_bias[1]  += (int32_t) gyro_temp[1];
      gyro_bias[2]  += (int32_t) gyro_temp[2];

    }
      accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases
      accel_bias[1] /= (int32_t) packet_count;
      accel_bias[2] /= (int32_t) packet_count;
      gyro_bias[0]  /= (int32_t) packet_count;
      gyro_bias[1]  /= (int32_t) packet_count;
      gyro_bias[2]  /= (int32_t) packet_count;

    if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) accelsensitivity;}  // Remove gravity from the z-axis accelerometer bias calculation
    else {accel_bias[2] += (int32_t) accelsensitivity;}

    EEPROM.put(eeAddr, accel_bias);
    eeAddr += sizeof(accel_bias);
    EEPROM.put(eeAddr, gyro_bias);
    eeAddr += sizeof(gyro_bias);
  } else {
    EEPROM.get(eeAddr, accel_bias);
    eeAddr += sizeof(accel_bias);
    EEPROM.get(eeAddr, gyro_bias);
    eeAddr += sizeof(gyro_bias);
  }

// Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup
  data[0] = (-gyro_bias[0]/4  >> 8) & 0xFF; // Divide by 4 to get 32.9 LSB per deg/s to conform to expected bias input format
  data[1] = (-gyro_bias[0]/4)       & 0xFF; // Biases are additive, so change sign on calculated average gyro biases
  data[2] = (-gyro_bias[1]/4  >> 8) & 0xFF;
  data[3] = (-gyro_bias[1]/4)       & 0xFF;
  data[4] = (-gyro_bias[2]/4  >> 8) & 0xFF;
  data[5] = (-gyro_bias[2]/4)       & 0xFF;

// Push gyro biases to hardware registers
  writeByte(MPU9250_ADDRESS, XG_OFFSET_H, data[0]);
  writeByte(MPU9250_ADDRESS, XG_OFFSET_L, data[1]);
  writeByte(MPU9250_ADDRESS, YG_OFFSET_H, data[2]);
  writeByte(MPU9250_ADDRESS, YG_OFFSET_L, data[3]);
  writeByte(MPU9250_ADDRESS, ZG_OFFSET_H, data[4]);
  writeByte(MPU9250_ADDRESS, ZG_OFFSET_L, data[5]);

// Output scaled gyro biases for display in the main program
  dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity;  
  dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity;
  dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity;

// Construct the accelerometer biases for push to the hardware accelerometer bias registers. These registers contain
// factory trim values which must be added to the calculated accelerometer biases; on boot up these registers will hold
// non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature
// compensation calculations. Accelerometer bias registers expect bias input as 2048 LSB per g, so that
// the accelerometer biases calculated above must be divided by 8.

  int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases
  readBytes(MPU9250_ADDRESS, XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values
  accel_bias_reg[0] = (int32_t) (((int16_t)data[0] << 8) | data[1]);
  readBytes(MPU9250_ADDRESS, YA_OFFSET_H, 2, &data[0]);
  accel_bias_reg[1] = (int32_t) (((int16_t)data[0] << 8) | data[1]);
  readBytes(MPU9250_ADDRESS, ZA_OFFSET_H, 2, &data[0]);
  accel_bias_reg[2] = (int32_t) (((int16_t)data[0] << 8) | data[1]);

  uint32_t mask = 1uL; // Define mask for temperature compensation bit 0 of lower byte of accelerometer bias registers
  uint8_t mask_bit[3] = {0, 0, 0}; // Define array to hold mask bit for each accelerometer bias axis

  for(ii = 0; ii < 3; ii++) {
    if((accel_bias_reg[ii] & mask)) mask_bit[ii] = 0x01; // If temperature compensation bit is set, record that fact in mask_bit
  }

  // Construct total accelerometer bias, including calculated average accelerometer bias from above
  accel_bias_reg[0] -= (accel_bias[0]/8); // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g (16 g full scale)
  accel_bias_reg[1] -= (accel_bias[1]/8);
  accel_bias_reg[2] -= (accel_bias[2]/8);

  data[0] = (accel_bias_reg[0] >> 8) & 0xFF;
  data[1] = (accel_bias_reg[0])      & 0xFF;
  data[1] = data[1] | mask_bit[0]; // preserve temperature compensation bit when writing back to accelerometer bias registers
  data[2] = (accel_bias_reg[1] >> 8) & 0xFF;
  data[3] = (accel_bias_reg[1])      & 0xFF;
  data[3] = data[3] | mask_bit[1]; // preserve temperature compensation bit when writing back to accelerometer bias registers
  data[4] = (accel_bias_reg[2] >> 8) & 0xFF;
  data[5] = (accel_bias_reg[2])      & 0xFF;
  data[5] = data[5] | mask_bit[2]; // preserve temperature compensation bit when writing back to accelerometer bias registers

// Apparently this is not working for the acceleration biases in the MPU-9250
// Are we handling the temperature correction bit properly?
// Push accelerometer biases to hardware registers
  writeByte(MPU9250_ADDRESS, XA_OFFSET_H, data[0]);
  writeByte(MPU9250_ADDRESS, XA_OFFSET_L, data[1]);
  writeByte(MPU9250_ADDRESS, YA_OFFSET_H, data[2]);
  writeByte(MPU9250_ADDRESS, YA_OFFSET_L, data[3]);
  writeByte(MPU9250_ADDRESS, ZA_OFFSET_H, data[4]);
  writeByte(MPU9250_ADDRESS, ZA_OFFSET_L, data[5]);

// Output scaled accelerometer biases for display in the main program
   dest2[0] = (float)accel_bias[0]/(float)accelsensitivity; 
   dest2[1] = (float)accel_bias[1]/(float)accelsensitivity;
   dest2[2] = (float)accel_bias[2]/(float)accelsensitivity;
}

Problem is can be seen in plotter better.

This is the 90 degree right(Yaw).

Is this a timing issue ? Calibration problem? Is mpu9250 not a good sensor? Can't my components just can't calculate it fast enough?

I am really stuck and I want to achieve this speed and accuracy https://www.youtube.com/watch?v=BXsGWoOMtmU

[kriswiner]

You are going to have to calibrate the magnetometer too. See here https://github.com/kriswiner/MPU6050/wiki/Simple-and-Effective-Magnetometer-Calibration .

This sketch has an example.

https://github.com/kriswiner/ESP8285/tree/master/MPU9250

On Sat, Feb 24, 2018 at 5:15 PM, Berat Özbay notifications@github.com wrote:

I didn't change the example code too much. My calibrate function is

void calibrateMPU9250(float dest1, float dest2) { uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data uint16_t ii, packet_count, fifo_count; int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};

// reset device writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device delay(100);

// get stable time source; Auto select clock source to be PLL gyroscope reference if ready // else use the internal oscillator, bits 2:0 = 001 writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01); writeByte(MPU9250_ADDRESS, PWR_MGMT_2, 0x00); delay(200);

// Configure device for bias calculation writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable FIFO writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source writeByte(MPU9250_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master writeByte(MPU9250_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes writeByte(MPU9250_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP delay(15);

// Configure MPU6050 gyro and accelerometer for bias calculation writeByte(MPU9250_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity

uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec uint16_t accelsensitivity = 16384; // = 16384 LSB/g

/* // Configure FIFO to capture accelerometer and gyro data for bias calculation writeByte(MPU9250_ADDRESS, USER_CTRL, 0x40); // Enable FIFO writeByte(MPU9250_ADDRESS, FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 512 bytes in MPU-9150) delay(40); // accumulate 40 samples in 40 milliseconds = 480 bytes

// At end of sample accumulation, turn off FIFO sensor read writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO readBytes(MPU9250_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count fifo_count = ((uint16_t)data[0] << 8) | data[1]; packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging*/

if (digitalRead(calibrateEnablePin) == HIGH) { delay(500); packet_count = 10000; for (ii = 0; ii < packet_count; ii++) { int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0}; //readBytes(MPU9250_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging

  readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &data[0]);  // Read the six raw data registers sequentially into data array
  readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &data[6]);  // Read the six raw data registers sequentially into data array
  accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1]  ) ;  // Form signed 16-bit integer for each sample in FIFO
  accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3]  ) ;
  accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5]  ) ;
  gyro_temp[0]  = (int16_t) (((int16_t)data[6] << 8) | data[7]  ) ;
  gyro_temp[1]  = (int16_t) (((int16_t)data[8] << 8) | data[9]  ) ;
  gyro_temp[2]  = (int16_t) (((int16_t)data[10] << 8) | data[11]) ;

  //Serial.println("TEMP DATA :   " + String(accel_temp[0]) + " " + String(accel_temp[1]) + " " + String(accel_temp[2]) + " " + String(gyro_temp[0]) + " " + String(gyro_temp[1]) + " " + String(gyro_temp[2]));

  accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
  accel_bias[1] += (int32_t) accel_temp[1];
  accel_bias[2] += (int32_t) accel_temp[2];
  gyro_bias[0]  += (int32_t) gyro_temp[0];
  gyro_bias[1]  += (int32_t) gyro_temp[1];
  gyro_bias[2]  += (int32_t) gyro_temp[2];

}
  accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases
  accel_bias[1] /= (int32_t) packet_count;
  accel_bias[2] /= (int32_t) packet_count;
  gyro_bias[0]  /= (int32_t) packet_count;
  gyro_bias[1]  /= (int32_t) packet_count;
  gyro_bias[2]  /= (int32_t) packet_count;

if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) accelsensitivity;}  // Remove gravity from the z-axis accelerometer bias calculation
else {accel_bias[2] += (int32_t) accelsensitivity;}

EEPROM.put(eeAddr, accel_bias);
eeAddr += sizeof(accel_bias);
EEPROM.put(eeAddr, gyro_bias);
eeAddr += sizeof(gyro_bias);

} else { EEPROM.get(eeAddr, accel_bias); eeAddr += sizeof(accel_bias); EEPROM.get(eeAddr, gyro_bias); eeAddr += sizeof(gyro_bias); }

// Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup data[0] = (-gyro_bias[0]/4 >> 8) & 0xFF; // Divide by 4 to get 32.9 LSB per deg/s to conform to expected bias input format data[1] = (-gyro_bias[0]/4) & 0xFF; // Biases are additive, so change sign on calculated average gyro biases data[2] = (-gyro_bias[1]/4 >> 8) & 0xFF; data[3] = (-gyro_bias[1]/4) & 0xFF; data[4] = (-gyro_bias[2]/4 >> 8) & 0xFF; data[5] = (-gyro_bias[2]/4) & 0xFF;

// Push gyro biases to hardware registers writeByte(MPU9250_ADDRESS, XG_OFFSET_H, data[0]); writeByte(MPU9250_ADDRESS, XG_OFFSET_L, data[1]); writeByte(MPU9250_ADDRESS, YG_OFFSET_H, data[2]); writeByte(MPU9250_ADDRESS, YG_OFFSET_L, data[3]); writeByte(MPU9250_ADDRESS, ZG_OFFSET_H, data[4]); writeByte(MPU9250_ADDRESS, ZG_OFFSET_L, data[5]);

// Output scaled gyro biases for display in the main program dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity; dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity; dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity;

// Construct the accelerometer biases for push to the hardware accelerometer bias registers. These registers contain // factory trim values which must be added to the calculated accelerometer biases; on boot up these registers will hold // non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature // compensation calculations. Accelerometer bias registers expect bias input as 2048 LSB per g, so that // the accelerometer biases calculated above must be divided by 8.

int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases readBytes(MPU9250_ADDRESS, XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values accel_bias_reg[0] = (int32_t) (((int16_t)data[0] << 8) | data[1]); readBytes(MPU9250_ADDRESS, YA_OFFSET_H, 2, &data[0]); accel_bias_reg[1] = (int32_t) (((int16_t)data[0] << 8) | data[1]); readBytes(MPU9250_ADDRESS, ZA_OFFSET_H, 2, &data[0]); accel_bias_reg[2] = (int32_t) (((int16_t)data[0] << 8) | data[1]);

uint32_t mask = 1uL; // Define mask for temperature compensation bit 0 of lower byte of accelerometer bias registers uint8_t mask_bit[3] = {0, 0, 0}; // Define array to hold mask bit for each accelerometer bias axis

for(ii = 0; ii < 3; ii++) { if((accel_bias_reg[ii] & mask)) mask_bit[ii] = 0x01; // If temperature compensation bit is set, record that fact in mask_bit }

// Construct total accelerometer bias, including calculated average accelerometer bias from above accel_bias_reg[0] -= (accel_bias[0]/8); // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g (16 g full scale) accel_bias_reg[1] -= (accel_bias[1]/8); accel_bias_reg[2] -= (accel_bias[2]/8);

data[0] = (accel_bias_reg[0] >> 8) & 0xFF; data[1] = (accel_bias_reg[0]) & 0xFF; data[1] = data[1] | mask_bit[0]; // preserve temperature compensation bit when writing back to accelerometer bias registers data[2] = (accel_bias_reg[1] >> 8) & 0xFF; data[3] = (accel_bias_reg[1]) & 0xFF; data[3] = data[3] | mask_bit[1]; // preserve temperature compensation bit when writing back to accelerometer bias registers data[4] = (accel_bias_reg[2] >> 8) & 0xFF; data[5] = (accel_bias_reg[2]) & 0xFF; data[5] = data[5] | mask_bit[2]; // preserve temperature compensation bit when writing back to accelerometer bias registers

// Apparently this is not working for the acceleration biases in the MPU-9250 // Are we handling the temperature correction bit properly? // Push accelerometer biases to hardware registers writeByte(MPU9250_ADDRESS, XA_OFFSET_H, data[0]); writeByte(MPU9250_ADDRESS, XA_OFFSET_L, data[1]); writeByte(MPU9250_ADDRESS, YA_OFFSET_H, data[2]); writeByte(MPU9250_ADDRESS, YA_OFFSET_L, data[3]); writeByte(MPU9250_ADDRESS, ZA_OFFSET_H, data[4]); writeByte(MPU9250_ADDRESS, ZA_OFFSET_L, data[5]);

// Output scaled accelerometer biases for display in the main program dest2[0] = (float)accel_bias[0]/(float)accelsensitivity; dest2[1] = (float)accel_bias[1]/(float)accelsensitivity; dest2[2] = (float)accel_bias[2]/(float)accelsensitivity; }

Problem is can be seen in plotter better. [image: screenshot 18 _li] https://user-images.githubusercontent.com/9295395/36636935-a95fae9a-19e1-11e8-85d6-2506df03ff4d.jpg

This is the 90 degree right.

Is this a timing issue ? Calibration problem? Is mpu9250 not a good sensor? Can't my components just can't calculate it fast enough?

I am reall stuck and I want to achive this speed and accuracy https://www.youtube.com/watch?v=BXsGWoOMtmU

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[beratozbay]

Sorry for my late response.

I tried different calibration tecqniues both yours and diydrones second one worked well but not perfect.

When I calculate angles pitch behaves abnormal (I think it's abnormal). When Pitch goes exactly up suddenly yaw goes to 270(initally 90) and roll goes to -180 (initally 0).

My madgwick parameters. MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, -mz);

The sudden change I mentioned doesn't seem bad in visualizer. Even so, changes not well for me because I want to use the angles as joystick angles.

[kriswiner]

This is in ENU convention, and should work. Maybe the accel nd gyro aren;t calibrated?

How do you check your sensor calibrations?

On Mon, Mar 5, 2018 at 1:08 PM, Berat Özbay notifications@github.com wrote:

Sorry for my late response.

I tried different calibration tecqniues both yours https://github.com/kriswiner/MPU6050/wiki/Simple-and-Effective-Magnetometer-Calibration and diydrones https://diydrones.com/profiles/blogs/advanced-hard-and-soft-iron-magnetometer-calibration-for-dummies second one worked well but not perfect.

When I calculate angles pitch behaves abnormal (I think it's abnormal). When Pitch goes exactly up suddenly yaw goes to 270(initally 90) and roll goes to -180 (initally 0).

My madgwick parameters. MadgwickQuaternionUpdate(ax, ay, az, gxPI/180.0f, gyPI/180.0f, gz*PI/180.0f, my, mx, -mz);

The sudden change I mentioned doesn't seem bad in visualizer https://github.com/arduino-libraries/MadgwickAHRS/tree/master/extras/Visualizer. Even so, changes not well for me because I want to use the angles as joystick angles.

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[beratozbay]

For accel and gyro, I just check the outputs while sensor standing. For mag, I wrote a program in processing. It has output mag points in 2D(Mxy, Mxz, Myz).

[kriswiner]

Not sure what to tell you. Although the Sparkfun design has power traces running under the MPU9250, maybe tthese are interfering with your measurements...

On Mon, Mar 5, 2018 at 1:39 PM, Berat Özbay notifications@github.com wrote:

For accel and gyro, I just check the outputs while sensor standing. For mag, I wrote a program in processing. It has output mag points in 2D(Mxy, Mxz, Myz).

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[beratozbay]

I see. Thank you so much. I learned a lot while trying to calibrate sensor. But I want to ask an out of topic question.

Can you suggest a high quality sensor(s) for motion tracking?

[kriswiner]

What kind of motion tracking? Absolute orientation, dead reckoning, velocimetry...?

On Tue, Mar 6, 2018 at 6:25 PM, Berat Özbay notifications@github.com wrote:

I see. Thank you so much. I learned a lot while trying to calibrate sensor. But I want to ask an out of topic question.

Can you suggest a high quality sensor(s) for motion tracking?

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[beratozbay]

Motion recognition. Like smart watches you know

[kriswiner]

You mean running versus walking versus sitting versus standing?

Can you be more specific?

On Tue, Mar 6, 2018 at 6:32 PM, Berat Özbay notifications@github.com wrote:

Motion recognition. Like smart watches you know

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[beratozbay]

Yes I want to able to recognize mainly runnig, walking, sitting, standig. Besides I will try to recognize specific movements like tennis or fitness movement.

[kriswiner]

This will be more about the contextual interpretation of the data then than the quality of the sensor or sensor fusion. I would use either 1) an MPU9250 or 2) an MPU9250 + EM7180. There are also some sensors that have contextual awareness libraries that are offered as binaries like the LSM6DSM, which is a fine sensor.

On Tue, Mar 6, 2018 at 7:19 PM, Berat Özbay notifications@github.com wrote:

Yes I want to able to recognize mainly runnig, walking, sitting, standig. Besides I will try to recognize specific movements like tennis or fitness movement.

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