Montvydas Klumbys / MPU6050

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

Fork of MPU6050 by Erik -

Files at this revision

API Documentation at this revision

Revision 4:268d3fcb92ba, committed 2015-02-12

Comitter:
moklumbys
Date:
Thu Feb 12 20:36:53 2015 +0000
Parent:
3:187152513f8d
Child:
5:5873df1e58be
Commit message:
Modified library to get angle from accelerometer.

Changed in this revision

MPU6050.cpp Show annotated file Show diff for this revision Revisions of this file
MPU6050.h Show annotated file Show diff for this revision Revisions of this file 
--- a/MPU6050.cpp	Thu Feb 12 10:26:56 2015 +0000
+++ b/MPU6050.cpp	Thu Feb 12 20:36:53 2015 +0000
@@ -148,6 +148,16 @@
     #endif   
 }
 
+//function for getting angles from accelerometer
+void MPU6050::getAcceleroAngle( float *data ) {
+    int temp[3];
+    this->getAccelero(temp);
+    
+    data[X_AXIS] = -1*atan (-1*temp[Y_AXIS]/sqrt(pow(temp[X_AXIS], 2) + pow(temp[Z_AXIS], 2))) * RADIANS_TO_DEGREES; //calculate angle x(pitch/roll?) from accellerometer reading
+    data[Y_AXIS] = -1*atan (temp[X_AXIS]/sqrt(pow(temp[Y_AXIS], 2) + pow(temp[Z_AXIS], 2))) * RADIANS_TO_DEGREES; //calculate angle x(pitch/roll?) from accellerometer reading
+    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
+    
+}
 //--------------------------------------------------
 //------------------Gyroscope-----------------------
 //--------------------------------------------------

--- a/MPU6050.h	Thu Feb 12 10:26:56 2015 +0000
+++ b/MPU6050.h	Thu Feb 12 20:36:53 2015 +0000
@@ -73,6 +73,10 @@
 #define MPU6050_GYRO_RANGE_1000     2
 #define MPU6050_GYRO_RANGE_2000     3
 
+//define how the accelerometer is placed on surface
+#define X_AXIS 1
+#define Y_AXIS 2
+#define Z_AXIS 0
 
 /** MPU6050 IMU library.
   *