Montvydas Klumbys
Thanks Erik Olieman for his beta library, that saved me a huge amount of time when getting Raw data from MPU6050 module! I was able to update this library by adding additional functions, which would allow a fast angle calculation by using complementary filter. I will probably be updating this library more soon to add additional functionality or make some changes that would look sensible.
Dependents: QuadcopterProgram 3DTracking ControlYokutan2017 Gyro ... more
Diff: MPU6050.cpp
- Revision:
- 5:5873df1e58be
- Parent:
- 4:268d3fcb92ba
- Child:
- 6:502448484f91
--- a/MPU6050.cpp Thu Feb 12 20:36:53 2015 +0000
+++ b/MPU6050.cpp Thu Feb 12 20:56:04 2015 +0000
@@ -158,6 +158,29 @@
data[Z_AXIS] = atan (sqrt(pow(temp[X_AXIS], 2) + pow(temp[Y_AXIS], 2))/temp[Z_AXIS]) * RADIANS_TO_DEGREES; //not sure what is this one :D
}
+void MPU6050::getOffset(float *accOffset, float *gyroOffset, int sampleSize){
+ float gyro[3];
+ float accAngle[3];
+
+ for (int i = 0; i < 3; i++) //initialise to 0.0 offsets
+ {
+ accOffset[i] = 0.0;
+ gyroOffset[i] = 0.0;
+ }
+
+ for (int i = 0; i < sampleSize; i++)
+ {
+ mpu.getGyro(gyro); //take real life measurements
+ mpu.getAcceleroAngle (accAngle);
+
+ for (int j = 0; j < 3; j++)
+ {
+ *(accOffset+j) += accAngle[j]/sampleSize; //average measurements
+ *(gyroOffset+j) += gyro[j]/sampleSize;
+ }
+ wait (0.01); //wait between each reading for accuracy (maybe will not need later on) ****))#$(#@)$@#)(#@(%)@#(%@)(#%#@$--------------
+ }
+}
//--------------------------------------------------
//------------------Gyroscope-----------------------
//--------------------------------------------------