I used the default "Angles Example" but added a delay of 1 sec at the end of the void loop(). function. The start Value seems to be ok (around +-2°) but after I started to change the pitch, it starts to return weird values. e.g. even though I put it back on the flat table, it still shows the max value and reduces it really slow (around 0.5° per delay). If I remove the delay, everything is responding immediately.
I also tried to put the printing into another function called after a delay by the loop, but the error is still the same.
I've experienced this bug both on my ESP32 and Arduino UNO (maybe on other boards to but I have only these).
Else it's a great library.

Hello Gabriel,

I just discovered your library today and it looks promising.

I am wondering what should be changed in the MPU6050::Execute() function, to take into consideration when the IMU is mounted vertically (with the Y axis pointing up/down instead of the Z-Axis).

I think the calculation of the angleAccZ and angleZ variables should take gravity into consideration instead of Y axis in this condition.

Hi again,

While using your library, running the demo sketch ArduinoIDE_Angles_Example on my ESP32, I noticed that the range of values for the X and Y axis is wrong : starting flat, the angle is 0.

• when I tilt on the X-axis, the angle will go from 0 to + 90° or -90° (depends on the tilting direction), and then fall back to zero instead of reaching +180 or -180 and then changing sign
• same thing happens on the Y axis

I tried to attach a video of me tilting the device and recording the screen in the same time, sorry for the bad quality, it was made with my phone. Here is the video : Wrong values MPU6050

I have also noticed that the Z-axis angle value drifts as I tilt on X or Y axis, and never falls back to 0 when put in the same position as I used for calibration.

Regarding wrong angle range, I suspect it has something to do with the wrapping, however I have not yet looked in it, however, I do not have any idea concerning Z-axis drifting...

Best regards,

Ewald

can you helo me, i have a ESP32 WEMOS OLED , i trying your library but dont work , only print constants values :

9:45:02.820 -> GyroY = -0.02 degrees/second
09:45:02.820 -> GyroZ = -0.02 degrees/second
09:45:02.820 -> --- Accel angles:
09:45:02.820 -> AccelAngX = 180.00
09:45:02.867 -> AccelAngY = 180.00
09:45:02.867 -> AccelAngZ = 45.00
09:45:02.867 -> --- Gyro angles:
09:45:02.867 -> GyroAngX = -5.45
09:45:02.867 -> GyroAngY = -5.45
09:45:02.867 -> GyroAngZ = -5.45
09:45:02.867 -> --- Filtered angles:
09:45:02.867 -> FilteredAngX = 177.94
09:45:02.867 -> FilteredAngY = 177.94
09:45:02.867 -> FilteredAngZ = 42.94
09:45:02.867 -> --- Angle filter coefficients:
09:45:02.867 -> Accelerometer percentage = 0.02%
09:45:02.867 -> Gyroscope percentage = 0.98%
09:45:02.867 -> --- Deadzone:
09:45:02.867 -> Accelerometer deadzone = 0.00 m/s²
09:45:02.867 -> Gyroscope deadzone = 0.01 degrees/second

Hello Gabriel,

How can I edit the library or my own arduino code to access 2 MPU6050's (0x68 and 0x69) while using the tinyMPU6050 libary?

Thankx

Hi :-)

The sensor is located on my desk, completely immobile, and the value of AccX is equal constantly to 0.99 m/s² - are you able to explain why?

Hey there,
I pulled the current master and noticed that the PlatformIO_All_Gets_Example doesn't compile, because the function GetAngAccZ is missing since the commit: 5264a0d .
The Arduino_All_Gets_Example has the same problem too.
Hope it helps.

Are the below values out of bounds? (i.e 0-359.99...) or am I just using the wrong angle convention?

22:47:25.132 -> --- Filtered angles:
22:47:25.167 -> FilteredAngX = 8.48
22:47:25.167 -> FilteredAngY = 512.71
22:47:25.167 -> FilteredAngZ = -302.91

the chip is still, but GetAngZ() value is drifting:

GetAngX, GetAngY, GetAngZ

 -8.00  ,   -4.90  ,   19.98
 -7.99  ,   -4.91  ,   19.98
 -8.00  ,   -4.91  ,   19.98
 -7.99  ,   -4.90  ,   19.99
 -8.00  ,   -4.90  ,   19.99
 -8.00  ,   -4.90  ,   19.99
 -8.00  ,   -4.89  ,   19.99
 -8.00  ,   -4.91  ,   19.99
 -8.00  ,   -4.91  ,   19.99
 -8.00  ,   -4.91  ,   19.99
 -8.00  ,   -4.91  ,   19.99
 -8.00  ,   -4.92  ,   20.00
 -8.00  ,   -4.91  ,   20.00
 -8.00  ,   -4.91  ,   20.00
 -8.00  ,   -4.91  ,   20.01
 -8.00  ,   -4.91  ,   20.01
 -7.99  ,   -4.90  ,   20.01
 -7.99  ,   -4.90  ,   20.01
 -7.99  ,   -4.90  ,   20.01
 -7.98  ,   -4.91  ,   20.01
 -7.98  ,   -4.91  ,   20.02

...

 -7.99  ,   -4.94  ,   24.97
 -7.99  ,   -4.94  ,   24.98
 -7.99  ,   -4.94  ,   24.98
 -7.99  ,   -4.94  ,   24.98
 -8.00  ,   -4.94  ,   24.98
 -8.00  ,   -4.93  ,   24.98
 -8.00  ,   -4.94  ,   24.99
 -8.00  ,   -4.94  ,   24.99
 -8.00  ,   -4.93  ,   24.99
 -8.00  ,   -4.93  ,   24.99
 -8.00  ,   -4.93  ,   24.99
 -8.00  ,   -4.93  ,   25.00
 -7.99  ,   -4.93  ,   25.00
 -8.00  ,   -4.93  ,   25.00
 -8.00  ,   -4.92  ,   25.01
 -8.00  ,   -4.91  ,   25.01
 -8.00  ,   -4.91  ,   25.01
 -8.00  ,   -4.91  ,   25.02
 -7.99  ,   -4.90  ,   25.02
 -8.00  ,   -4.90  ,   25.02
 -8.00  ,   -4.91  ,   25.03
 -8.01  ,   -4.91  ,   25.03
 -8.00  ,   -4.92  ,   25.04
 -8.00  ,   -4.92  ,   25.05
 -8.01  ,   -4.93  ,   25.05

Getting this from Calibration mode
13:58:48.156 -> 88 loops / 4 axis calibrated. Missing: AccZ GyY
13:58:48.361 -> 89 loops / 4 axis calibrated. Missing: AccZ GyY
...

Nope I am not on a roller coaster.

[Edit]
14:09:33.081 -> 298 loops / 4 axis calibrated. Missing: AccZ GyY
14:09:33.286 -> 299 loops / 4 axis calibrated. Missing: AccZ GyY
14:09:33.487 -> 300 loops / 4 axis calibrated. Missing: AccZ GyY
14:09:54.087 -> 1 loops / 1 axis calibrated. Missing: AccX AccY AccZ GyX GyY
14:09:54.289 -> 2 loops / 4 axis calibrated. Missing: AccZ GyY
14:09:54.462 -> 3 loops / 4 axis calibrated. Missing: AccZ GyY

just loops after 300, it seems to want to tell me what is flat and whats not rather than using what it's got as flat and working from there.

Hi !
First of all, thank you very much for your work ! Your library works very well, I am currently working on a project for my education, and I am glad that I have found your library.
However, I have played a bit with my MPU6050, and have found that it had an error in measuring gravity. While holding my sensor perfectly still and horizontal the gravity value read is a little less than 16000 on Z-axis (so a little less than 1g with default scale), and a little more than 250 on X-axis and 400 for Y-axis. After looking through your library, I did not find any code that would correct these error.
Have I missed a part where you set acceleration offsets ?

Best regards,

Ewald

Hi @gabriel-milan first off, thank you so much for this, it works the best with ESP8266 from libraries I tried :)

I don't know if this is a bug or it's a "feature" of the sensor but when I orient it upside down (MPU6050 chip facing down), the measurements are slow / delayed. It's around one second delayed. Once I reorient it back, it's fast again. This is very unfortunate as I plan on using it oriented like that.

EDIT: Z-axis seems to stay fast, only X and Y are slow. Tested on Angles example. The difference can be easily observed when making sudden fast moves

Thank you for posting this. However I find no Arduino or AVR code examples on the use of this library.

The method MPU6050::UpdateRawAccel() contains the following line:

rawAccX = wire->read() << 8 | wire->read();

and similar lines for rawAccY and rawAccZ. The same idiom is used in MPU6050::UpdateRawGyro().

This kind of expression should be avoided, as it does not guarantee the endianness of the retrieved data. This is because, in C++, the order of evaluation of the arguments of the | operator is unspecified.

Presumably, the current version of gcc, when invoked with the options passed by the current version of the Arduino IDE, generates assembly that orders the bytes in the expected way. But this cannot be relied upon, and can very well depend on the compiler, compiler version, compiler options, or even surrounding code. This is the kind of software error that cannot be unveiled by testing, as the code can “just work” even if it is incorrect.

The simplest solution is to issue the calls to wire->read() within separate statements. Unlike the arguments of the | operator, separate statements have a well define order of evaluation:

rawAccX = wire->read() << 8;
rawAccX |= wire->read();

See also this post on the Arduino forum.

Hey, first of all I want to thank you for the amazing work. During diving into this entire topic I came up with lots of libraries and I really like yours a lot. I just have a short question about yaw compensation like described here: https://youtu.be/4BoIE8YQwM8?t=606

Is it possible that this part is missing in your library?

Thanks! bart

Last one I promise!

ArduinoIDE_All_Gets_Example is missing the mpu.Execute(); call so the info you see is the last one received by the calibration call and it does not change.

I am using the example sketch, with the pin configuration:

SDA -> A5
SCL -> A4

However, regardless of how I move the gyroscope, the same values are printed out.

The output of the program can be found below

`

Starting calibration...
Calibration complete!
Offsets:
AccX Offset = 0.00
AccY Offset = 0.00
AccZ Offset = 2047.00
GyroX Offset = 0.00
GyroY Offset = 0.00
GyroZ Offset = 0.00
AngX = 179.99 / AngY = 179.99 / AngZ = 45.00
AngX = 179.99 / AngY = 179.99 / AngZ = 45.00
AngX = 179.99 / AngY = 179.99 / AngZ = 45.00
AngX = 179.99 / AngY = 179.99 / AngZ = 45.00
AngX = 179.99 / AngY = 179.99 / AngZ = 45.00
AngX = 179.99 / AngY = 179.99 / AngZ = 44.99
AngX = 179.99 / AngY = 179.99 / AngZ = 44.99
AngX = 179.99 / AngY = 179.99 / AngZ = 44.99
AngX = 179.99 / AngY = 179.99 / AngZ = 44.99
AngX = 179.99 / AngY = 179.99 / AngZ = 44.99
AngX = 179.99 / AngY = 179.99 / AngZ = 44.99
AngX = 179.99 / AngY = 179.99 / AngZ = 44.99
`

If you install from the Arduino IDE, you still get the example versions with the "mpu." missing from the function calls in the ArduinoIDE_All_Gets_Example, dunno if that's the library people being slow, or if its some date/time stamp thing not detecting it as a new version

After using the built in Arduino IDE update library function to V 0.4.3 the following is received in the debug window

Invalid library found in C:\Users\<user name>\OneDrive\Documents\Arduino\libraries\TinyMPU6050: no headers files (.h) found in C:\Users\<user name>\OneDrive\Documents\Arduino\libraries\TinyMPU6050

This may be a OneDrive path issue, but deleting the library manually and then manually putting the downloaded extracted zip version from GitHub fixes the issue.