Summary of some usage methods of mpu6050

In the use of MPU6050 There are some problems in the process , About online MPU6050 Although there are many materials , But it's hard to find a way to solve the problem you want , Learn from others' methods here , Make some summary , Mainly about azimuth matrix and DMP Attitude solution .

Azimuth matrix

First, provide a document about the azimuth matrix in the attachment , It's very detailed , Here is to say in “inv_mpu.c” Only the gyro azimuth matrix is provided in the document , Probably 2866 Right and left of the line , My own experiment found that I changed the azimuth matrix （ Different matrix ）, All conform to the axial direction in the document as 1g、 And the gyroscope output data of the right-hand rule is positive , Because there is no time to study the source code , Plus the ability is limited , So I don't know the specific principle . When I use it, I compare the azimuth matrix of the gyroscope with PCB The azimuth matrix on the board is the same , Of course, it is based on the location , It's obviously different to put it horizontally and vertically . I also hope someone can read the article if they know what's going on , You can contact me and tell me the specific principle , After all, it took a long time to figure out what was going on .

Absolute angle and relative angle

There is a self checking function under the gyro azimuth matrix , stay mpu_get_accel_sens(&accel_sens); Add... Below *accel_sens = 0;* The relative angle becomes the absolute angle , I don't understand the specific principle , But it really can , According to the meaning of others' posts, it is probably to clear the absolute horizontal calibration value obtained 0. But what are the disadvantages of doing this is still unclear .

Change the initialization direction to suit the placement position

About 2149 Row left and right position , There is a passage /* Don’t remove gravity!*/,accel[2] Inside 2 yes Z Axis means , It means to place horizontally ,Z The axis can be initialized successfully when it is upright , If you stand up, you have to write 1 perhaps 0 了 （0：x Axis \1:y Axis \2:z Axis ）, This is also what others see in their posts , It seems that I can really , The same specific principle , Don't understand, ！
The above is all about MPU6050 Some problems encountered in the process of using , Hope to help people who encounter the same problem , I also hope that the boss can supplement the article and explain the relevant principles after seeing it .
The attachment