Per interfacciare l'MPU9250 ho usato la libreria https://github.com/sparkfun/MPU-9250_Breakout che funziona solo con schede Arduino con processore SAM (quindi MKR)
Nello sketch degli esempi e' stato aggiunto il filtro Madgwick
5852 dati
Pitch (filtrato)
media 60.475°
std 0.22°
skew -0.597
Roll (filtrato)
media 50.471°
std 0.34°
skew -0.113
Yaw (filtrato)
media 209.56°
std 0.54°
skew 0.2
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#include <SparkFunMPU9250-DMP.h>
#include <MadgwickAHRS.h>
MPU9250_DMP imu;
Madgwick MadgwickFilter;
void setup()
{
Serial.begin(115200);
MadgwickFilter.begin(100); // 100 Hz
if (imu.begin() != INV_SUCCESS)
{
while (1)
{
Serial.println("Unable to communicate with MPU-9250");
Serial.println("Check connections, and try again.");
Serial.println();
delay(5000);
}
}
imu.setSensors(INV_XYZ_GYRO | INV_XYZ_ACCEL | INV_XYZ_COMPASS);
imu.setGyroFSR(2000); // Set gyro to 2000 dps
// Accel options are +/- 2, 4, 8, or 16 g
imu.setAccelFSR(2); // Set accel to +/-2g
// Note: the MPU-9250's magnetometer FSR is set at
// +/- 4912 uT (micro-tesla's)
// setLPF() can be used to set the digital low-pass filter
// of the accelerometer and gyroscope.
// Can be any of the following: 188, 98, 42, 20, 10, 5
// (values are in Hz).
imu.setLPF(5); // Set LPF corner frequency to 5Hz
// The sample rate of the accel/gyro can be set using
// setSampleRate. Acceptable values range from 4Hz to 1kHz
imu.setSampleRate(10); // Set sample rate to 10Hz
// Likewise, the compass (magnetometer) sample rate can be
// set using the setCompassSampleRate() function.
// This value can range between: 1-100Hz
imu.setCompassSampleRate(10); // Set mag rate to 10Hz
imu.dmpBegin(DMP_FEATURE_GYRO_CAL | // Enable gyro cal
DMP_FEATURE_SEND_CAL_GYRO,// Send cal'd gyro values
10);
}
void loop()
{
if ( imu.dataReady() )
{
imu.update(UPDATE_ACCEL | UPDATE_GYRO | UPDATE_COMPASS);
printIMUData();
}
}
void printIMUData(void)
{
float accelX = imu.calcAccel(imu.ax);
float accelY = imu.calcAccel(imu.ay);
float accelZ = imu.calcAccel(imu.az);
float gyroX = imu.calcGyro(imu.gx);
float gyroY = imu.calcGyro(imu.gy);
float gyroZ = imu.calcGyro(imu.gz);
float magX = imu.calcMag(imu.mx);
float magY = imu.calcMag(imu.my);
float magZ = imu.calcMag(imu.mz);
MadgwickFilter.update(accelX,accelY,accelZ,gyroX,gyroY,gyroZ,magX,magY,magZ) ;
Serial.print(String(accelX) + "," +String(accelY) + "," + String(accelZ));
Serial.print("," + String(gyroX) + "," + String(gyroY) + "," + String(gyroZ) + ",");
Serial.print(String(magX) + "," + String(magY) + "," + String(magZ)+ "," );
Serial.print(String(MadgwickFilter.getPitch())+ "," +String(MadgwickFilter.getRoll())+ "," +String(MadgwickFilter.getYaw()));
Serial.println();
}
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