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I have mounted the MPU6050 in a vertical orientation, where x is the pitch axis, instead of y:
MPU6050 Horizontal
MPU6050 Vertical
x
z
y
x
z
y
I am using MPU6050_6Axis_MotionApps612 and it is working fine getting the pitch angles, except that on startup, it takes around 3-5 seconds for the DMP output to stabilize. The value starts at pi / 2 and moves towards 0, which is the desired angle at the complete vertical orientation.
I am using the following dmpGetPitch function, which I based off of dmpGetYawPitchRoll:
I suspect that the DMP states initializes the output quaternion state at 0 degrees, from a horizontal orientation.
I want to initialize the DMP at a custom initial quaternion state. Is this possible? Is there some way I can modify the DMP code or send this data to the unit?
The text was updated successfully, but these errors were encountered:
The reason why I want to set custom initial values is that my system might have a watchdog reset and I cannot spare 5 seconds of startup time. It needs to work instantaneously.
Hi,
I have mounted the MPU6050 in a vertical orientation, where
x
is the pitch axis, instead ofy
:I am using
MPU6050_6Axis_MotionApps612
and it is working fine getting the pitch angles, except that on startup, it takes around 3-5 seconds for the DMP output to stabilize. The value starts atpi / 2
and moves towards0
, which is the desired angle at the complete vertical orientation.I am using the following
dmpGetPitch
function, which I based off ofdmpGetYawPitchRoll
:I suspect that the DMP states initializes the output quaternion state at 0 degrees, from a horizontal orientation.
I want to initialize the DMP at a custom initial quaternion state. Is this possible? Is there some way I can modify the DMP code or send this data to the unit?
The text was updated successfully, but these errors were encountered: