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Strange mpu6050 data.
05-18-2015, 10:49 AM (This post was last modified: 05-18-2015 04:23 PM by sasa999.)
Post: #3
RE: Strange mpu6050 data.
Motors drivers connected to 11.1V LiPo, MPU connected to Arduino stabilised 5V. The same way as in my other robot, which works fine.
I disconnected motors, but mpu show the same results Sad
I added some code for comparison with YawPitchRoll what represent real Pitch angle. +-10degrees pitch change show result only +-1.
Code:
float dmpGetPhi() {
  mpu.getFIFOBytes(fifoBuffer, 16); // We only read the quaternion
  mpu.dmpGetQuaternion(&q, fifoBuffer);

  //-----------for test only!!!!!!!!!!!!!!
  mpu.dmpGetGravity(&gravity, &q);
  mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
  double pitch = ypr[1] * 180 / M_PI;// + 180;
  Serial.print("         Pitch= ");
  Serial.print(pitch);
  //----------------------
  mpu.resetFIFO();  // We always reset FIFO

  //return( asin(-2*(q.x * q.z - q.w * q.y)) * 180/M_PI); //roll
  return (atan2(2 * (q.y * q.z + q.w * q.x), q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z) * RAD2GRAD);
}

For big movement it look like this

Pitch= 87.14 angle_adjusted=-95.44
Pitch= 87.06 angle_adjusted=-63.02
Pitch= 86.09 angle_adjusted=-37.09
Pitch= 84.50 angle_adjusted=-22.10
Pitch= 82.51 angle_adjusted=-13.53
Pitch= 80.22 angle_adjusted=-8.18
Pitch= 77.66 angle_adjusted=-4.65
Pitch= 74.86 angle_adjusted=-2.22
Pitch= 71.82 angle_adjusted=-0.51
Pitch= 68.59 angle_adjusted=0.70
Pitch= 65.14 angle_adjusted=1.57
Pitch= 61.53 angle_adjusted=2.18
Pitch= 57.76 angle_adjusted=2.58
Pitch= 53.85 angle_adjusted=2.85
Pitch= 49.83 angle_adjusted=3.00
Pitch= 45.69 angle_adjusted=3.06
Pitch= 41.47 angle_adjusted=3.04
Pitch= 37.17 angle_adjusted=2.95
Pitch= 32.81 angle_adjusted=2.80
Pitch= 28.39 angle_adjusted=2.61
Pitch= 23.94 angle_adjusted=2.37
Pitch= 19.45 angle_adjusted=2.09
Pitch= 14.94 angle_adjusted=1.78
Pitch= 10.43 angle_adjusted=1.45
Pitch= 5.91 angle_adjusted=1.11
Pitch= 1.39 angle_adjusted=0.79
Pitch= -3.10 angle_adjusted=0.47
Pitch= -7.55 angle_adjusted=0.18
Pitch= -11.96 angle_adjusted=-0.11
Pitch= -16.32 angle_adjusted=-0.38
Pitch= -20.62 angle_adjusted=-0.65
Pitch= -24.83 angle_adjusted=-0.93
Pitch= -28.97 angle_adjusted=-1.26
Pitch= -36.97 angle_adjusted=-2.07
Pitch= -40.82 angle_adjusted=-2.56
Pitch= -44.60 angle_adjusted=-3.11
Pitch= -48.26 angle_adjusted=-3.70
Pitch= -51.81 angle_adjusted=-4.33
Pitch= -55.22 angle_adjusted=-4.99
Pitch= -58.49 angle_adjusted=-5.67
Pitch= -61.59 angle_adjusted=-6.45
Pitch= -64.52 angle_adjusted=-7.31
Pitch= -67.24 angle_adjusted=-8.36
Pitch= -69.75 angle_adjusted=-9.62
Pitch= -72.04 angle_adjusted=-11.15
Pitch= -74.09 angle_adjusted=-12.96
Pitch= -75.91 angle_adjusted=-15.05
Pitch= -77.48 angle_adjusted=-17.34
Pitch= -79.88 angle_adjusted=-22.08
Pitch= -80.73 angle_adjusted=-24.22
Pitch= -81.37 angle_adjusted=-25.96
Pitch= -81.79 angle_adjusted=-27.19

For small fast movement angle bigger than 2.5 degree sometimes as result show smaller movement Huh
Pitch= -4.52 angle_adjusted=-3.35
Pitch= -4.21 angle_adjusted=-3.40
Pitch= -4.01 angle_adjusted=-3.42
Pitch= -3.77 angle_adjusted=-3.45
Pitch= -3.48 angle_adjusted=-3.47
Pitch= -3.17 angle_adjusted=-3.50
Pitch= -2.82 angle_adjusted=-3.53
Pitch= -2.45 angle_adjusted=-3.56
Pitch= -2.05 angle_adjusted=-3.59
Pitch= -1.63 angle_adjusted=-3.62
Pitch= -1.20 angle_adjusted=-3.65
Pitch= -0.77 angle_adjusted=-3.68
Pitch= -0.32 angle_adjusted=-3.71
Pitch= 0.11 angle_adjusted=-3.73
Pitch= 0.55 angle_adjusted=-3.75
Pitch= 0.97 angle_adjusted=-3.77
Pitch= 1.38 angle_adjusted=-3.77
Pitch= 1.78 angle_adjusted=-3.78
Pitch= 2.15 angle_adjusted=-3.79
Pitch= 2.50 angle_adjusted=-3.78
Pitch= 2.82 angle_adjusted=-3.78
Pitch= 3.11 angle_adjusted=-3.76
Pitch= 3.38 angle_adjusted=-3.75
Pitch= 3.61 angle_adjusted=-3.73
Pitch= 3.81 angle_adjusted=-3.71
Pitch= 3.98 angle_adjusted=-3.69
Pitch= 4.12 angle_adjusted=-3.67
Pitch= 4.21 angle_adjusted=-3.65
Pitch= 4.28 angle_adjusted=-3.62
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Messages In This Thread
Strange mpu6050 data. - sasa999 - 05-17-2015, 08:08 PM
RE: Strange mpu6050 data. - jusalyso - 05-18-2015, 07:03 AM
RE: Strange mpu6050 data. - sasa999 - 05-18-2015 10:49 AM
RE: Strange mpu6050 data. - Wampo - 05-20-2015, 08:27 PM

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