Stabilization of Yaw

[brrnd99]

Hi, im new to MPUs and im currently working on improving the movement of robot so that it could move straightly and turns 90 degree when an obstruction is detected, in this case I will only nid to observe yaw. Im using this with arduino due, but was confused on the selection of code from ur library, cn i know which sketch is more suitable to be used and how what others library should be included too, already had i2c library tho.

[kriswiner]

Could start from here https://github.com/kriswiner/MPU9250/tree/master/AK8963_as_slave or maybe easier here https://github.com/kriswiner/ESP32/tree/master/MPU9250_MS5637_AHRS_UDP.

On Tue, Oct 20, 2020 at 8:08 PM brrnd99 notifications@github.com wrote:

Hi, im new to MPUs and im currently working on improving the movement of robot so that it could move straightly and turns 90 degree when an obstruction is detected, in this case I will only nid to observe yaw. Im using this with arduino due, but was confused on the selection of code from ur library, cn i know which sketch is more suitable to be used and how what others library should be included too, already had i2c library tho.

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[brrnd99]

already attempted the mpu9250basicahrs_12c code and it shows mpu failed to connect, tried the wake up code but seems like im lacking of some library. Connection as below: VCC----- 3.3V GND---- GND SCL----- A5 SDA----- A4 ADO---- GND Is there issue in my connection?

[kriswiner]

Yup, you are not connecting. What does an I2C scan show?

On Tue, Oct 20, 2020 at 8:18 PM brrnd99 notifications@github.com wrote:

already attempted the mpu9250basicahrs_12c code and it shows mpu failed to connect, tried the wake up code but seems like im lacking of some library. [image: image] https://user-images.githubusercontent.com/73152819/96669058-092b0f00-138f-11eb-8689-c9d6fa54cc4a.png [image: image] https://user-images.githubusercontent.com/73152819/96669103-1c3ddf00-138f-11eb-9aa5-d95322726830.png

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[brrnd99]

i2c scanner show device found at 0x68

[kriswiner]

Are you using 0x68 as your MPU9250 I2C address?

This doesn't look like one of my sketches. Your I2C "library" is probably fubar...

On Tue, Oct 20, 2020 at 8:25 PM brrnd99 notifications@github.com wrote:

i2c scanner show device found at 0x68

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[brrnd99]

Im using this I2C library below, cn u attached ur version of i2c scanner here please...

include

void setup() { Wire.begin();

Serial.begin(9600); while (!Serial); // Leonardo: wait for serial monitor Serial.println("\nI2C Scanner"); }

void loop() { byte error, address; int nDevices;

Serial.println("Scanning...");

nDevices = 0; for(address = 1; address < 127; address++ ) { // The i2c_scanner uses the return value of // the Write.endTransmisstion to see if // a device did acknowledge to the address. Wire.beginTransmission(address); error = Wire.endTransmission();

if (error == 0)
{
  Serial.print("I2C device found at address 0x");
  if (address<16)
    Serial.print("0");
  Serial.print(address,HEX);
  Serial.println("  !");

  nDevices++;
}
else if (error==4)
{
  Serial.print("Unknown error at address 0x");
  if (address<16)
    Serial.print("0");
  Serial.println(address,HEX);
}    

} if (nDevices == 0) Serial.println("No I2C devices found\n"); else Serial.println("done\n");

delay(5000); // wait 5 seconds for next scan }

[kriswiner]

Your scanner sees fine.

Why not use one of the sketches I linked to?

On Tue, Oct 20, 2020 at 8:36 PM brrnd99 notifications@github.com wrote:

Im using this I2C library below, cn u attached ur version of i2c scanner here please...

include

void setup() { Wire.begin();

Serial.begin(9600); while (!Serial); // Leonardo: wait for serial monitor Serial.println("\nI2C Scanner"); }

void loop() { byte error, address; int nDevices;

Serial.println("Scanning...");

nDevices = 0; for(address = 1; address < 127; address++ ) { // The i2c_scanner uses the return value of // the Write.endTransmisstion to see if // a device did acknowledge to the address. Wire.beginTransmission(address); error = Wire.endTransmission();

if (error == 0) { Serial.print("I2C device found at address 0x"); if (address<16) Serial.print("0"); Serial.print(address,HEX); Serial.println(" !");

nDevices++; } else if (error==4) { Serial.print("Unknown error at address 0x"); if (address<16) Serial.print("0"); Serial.println(address,HEX); }

} if (nDevices == 0) Serial.println("No I2C devices found\n"); else Serial.println("done\n");

delay(5000); // wait 5 seconds for next scan }

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[brrnd99]

Could start from here https://github.com/kriswiner/MPU9250/tree/master/AK8963_as_slave or maybe easier here https://github.com/kriswiner/ESP32/tree/master/MPU9250_MS5637_AHRS_UDP. … On Tue, Oct 20, 2020 at 8:08 PM brrnd99 @.***> wrote: Hi, im new to MPUs and im currently working on improving the movement of robot so that it could move straightly and turns 90 degree when an obstruction is detected, in this case I will only nid to observe yaw. Im using this with arduino due, but was confused on the selection of code from ur library, cn i know which sketch is more suitable to be used and how what others library should be included too, already had i2c library tho. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#435>, or unsubscribe https://github.com/notifications/unsubscribe-auth/ABTDLKVGNZPVRVBBJY7B4NLSLZGC5ANCNFSM4SZFKULQ .

These? btw isit necessary to use the madgwick filter or its already included in ur sketches ?

[kriswiner]

For example.

Are you using 0x68 as the MPU9250 I2C address? How do you know?

On Tue, Oct 20, 2020 at 8:41 PM brrnd99 notifications@github.com wrote:

Could start from here https://github.com/kriswiner/MPU9250/tree/master/AK8963_as_slave or maybe easier here https://github.com/kriswiner/ESP32/tree/master/MPU9250_MS5637_AHRS_UDP. … <#m7161967903031835223> On Tue, Oct 20, 2020 at 8:08 PM brrnd99 @.***> wrote: Hi, im new to MPUs and im currently working on improving the movement of robot so that it could move straightly and turns 90 degree when an obstruction is detected, in this case I will only nid to observe yaw. Im using this with arduino due, but was confused on the selection of code from ur library, cn i know which sketch is more suitable to be used and how what others library should be included too, already had i2c library tho. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#435 https://github.com/kriswiner/MPU9250/issues/435>, or unsubscribe https://github.com/notifications/unsubscribe-auth/ABTDLKVGNZPVRVBBJY7B4NLSLZGC5ANCNFSM4SZFKULQ .

These?

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[brrnd99]

im not sure, working on it now( i2c address ).. is the adafruit library in ur sketch working fine with arduino due ?

[kriswiner]

Never used the arduino due, don't know what this is.

What adafruit library?

If you are using adafruit's MPU9250 library, ask them why it is not working...

On Tue, Oct 20, 2020 at 8:45 PM brrnd99 notifications@github.com wrote:

im not sure, working on it now( i2c address ).. is the adafruit library in ur sketch working fine with arduino due ?

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[brrnd99]

For the adafruit thing sorry i overlooked the others code, so does ur sketch ( attached jusnow) includes all the function like i2c scan, main function and library required?

[kriswiner]

Yes, start with this https://github.com/kriswiner/ESP32/tree/master/MPU9250_MS5637 one, it should require minor mods to get it to work...if you don;t have an MS5637 baro, you can comment this stuff out.

On Tue, Oct 20, 2020 at 8:53 PM brrnd99 notifications@github.com wrote:

For the adafruit thing sorry i overlooked the others code, so does ur sketch ( attached jusnow) includes all the function like i2c scan, main function and library required?

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[brrnd99]

im trying out with arduino uno, does the esp32 code works find with uno?

[kriswiner]

You'll need to use this https://github.com/kriswiner/ESP32/blob/master/MPU9250_MS5637/MPU9250_MS5637_AHRS.ino sketch, and add this https://github.com/kriswiner/ESP32/blob/master/MPU9250_MS5637/quaternionFilters.ino in the tab for the fusion functions, comment out the MS5637stuff...

On Tue, Oct 20, 2020 at 8:55 PM Tlera Corporation tleracorp@gmail.com wrote:

Yes, start with this https://github.com/kriswiner/ESP32/tree/master/MPU9250_MS5637 one, it should require minor mods to get it to work...if you don;t have an MS5637 baro, you can comment this stuff out.

On Tue, Oct 20, 2020 at 8:53 PM brrnd99 notifications@github.com wrote:

For the adafruit thing sorry i overlooked the others code, so does ur sketch ( attached jusnow) includes all the function like i2c scan, main function and library required?

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[kriswiner]

You won't get any yaw accuracy with an AVR MCU, too slow https://github.com/kriswiner/MPU6050/wiki/Affordable-9-DoF-Sensor-Fusion.

But if you make the proper mods, the sketch should at least run.

On Tue, Oct 20, 2020 at 8:58 PM brrnd99 notifications@github.com wrote:

im trying out with arduino uno, does the esp32 code works find with uno?

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[brrnd99]

but what if my whole robot already using arduino due, this means i cnt get yaw reading at all? what if i change to mpu6050 then? Any way to solve if arduino uno must be used.. p.s. arduino due is similar with uno

[kriswiner]

In this case, I would use this https://www.tindie.com/products/onehorse/ultimate-sensor-fusion-solution-lsm6dsm-lis2md/, or this https://www.tindie.com/products/onehorse/ultimate-sensor-fusion-solution-mpu9250/, or even this https://www.tindie.com/products/onehorse/max32660-motion-co-processor/ for best accuracy.

On Tue, Oct 20, 2020 at 9:14 PM brrnd99 notifications@github.com wrote:

but what if my whole robot already using arduino due, this means i cnt get yaw reading at all? what if i change to mpu6050 then? Any way to solve if arduino uno must be used..

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[brrnd99]

ok i will try it, cn i ask here further more in future?

[kriswiner]

Ask me specific questions at tleracorp@gmail.com.

On Tue, Oct 20, 2020 at 11:04 PM brrnd99 notifications@github.com wrote:

ok i will try it, cn i ask here further more in future?

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