Category Archives: Arduino

In this video lesson I show you how you can improve the performance of your Arduino MPU6050 IMU Project by incorporating a complimentary filter. We will combine the roll and pitch calculations from the accelerometer and gyro into a fused result which allows us to enjoy the best of both worlds.

For your convenience, the code developed is presented below:

#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>
float Ax;
float Ay;
float Az;

float Gx;
float Gy;
float Gz;

float rollG=0;
float pitchG=0;
float yawG=0;

float gyroXOffset=0;
float gyroYOffset=0;
float gyroZOffset=0;

int tStart = millis();

// If You want Calibrated results, you must rotate
// your board to all possible orientations, and
// record your velues of xMax, xMin, yMax, yMin
// zMax, zMin. I show you how to do that in LESSON
// 79 on my youtube channel. Put in your values and then
// uncomment the code below. Don't use my values, you have
// to measure your own for it to work.

// float xMax= 1.03;
// float xMin= -.97;
// float yMax= .98;
// float yMin= -1.01;
// float zMax=.96 ;
// float zMin= -1.08;

// float xOffset = (xMax+xMin)/2;
// float yOffset = (yMax+yMin)/2;
// float zOffset = (zMax+zMin)/2;

// float xScale = 2/(xMax -xMin);
// float yScale = 2/(yMax - yMin);
// float zScale = 2/(zMax -zMin);

float rollLP = 0;
float pitchLP = 0;

float rollRAW;
float pitchRAW;

float rollComp=0;
float pitchComp=0;

float deltaRoll=0;
float deltaPitch=0;

Adafruit_MPU6050 mpu;

void calibrateGyro(){
Serial.println("Calibrating the Gyro: Keep Completely Stationary");
delay(1000);
int i;
float sumX = 0;
float sumY = 0;
float sumZ = 0;
int numPoints=100;
for (i=0;i<numPoints;i=i+1){
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);
  sumX = sumX + g.gyro.x;
  sumY = sumY + g.gyro.y;
  sumZ = sumZ + g.gyro.z;
  delay(10);
}
gyroXOffset = sumX/numPoints;
gyroYOffset = sumY/numPoints;
gyroZOffset = sumZ/numPoints;

}

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  mpu.begin();
  Serial.println("MPU6050 Started!");
  mpu.setAccelerometerRange(MPU6050_RANGE_2_G);
  mpu.setGyroRange(MPU6050_RANGE_2000_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
calibrateGyro();
tStart = millis();
}

void loop() {
  // put your main code here, to run repeatedly:
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);
  Ax = a.acceleration.x / 9.81;
  Ay = a.acceleration.y / 9.81;
  Az = a.acceleration.z / 9.81;

  Gx = g.gyro.x-gyroXOffset;
  Gy = -(g.gyro.y-gyroYOffset);
  Gz = g.gyro.z-gyroZOffset;

rollG = rollG + (millis() - tStart)/1000. * Gy *360./2./3.14;
pitchG = pitchG + (millis() - tStart)/1000. * Gx *360./2./3.14;
yawG = yawG + (millis() - tStart)/1000. * Gz *360./2./3.14;
deltaRoll=(millis() - tStart)/1000. * Gy *360./2./3.14;
deltaPitch=(millis() - tStart)/1000. * Gx *360./2./3.14;
tStart = millis();

  //Uncomment these lines of code to do the callibration
  //This will only work if you have measured your max
  //and min values, and put them in at the top of the code
  // Ax = xScale*(Ax-xOffset);
  // Ay = yScale*(Ay-yOffset);
  // Az = zScale*(Az-zOffset);

  pitchRAW = atan2(Ay, sqrt(Az * Az + Ax * Ax)) * 360 / (2 * 3.14);
  rollRAW = atan2(Ax, sqrt(Az * Az + Ay * Ay)) * 360 / (2 * 3.14);

  pitchLP = .75 * pitchLP + .25 * pitchRAW;
  rollLP = .75 * rollLP + .25 * rollRAW;

  rollComp= .1*rollRAW + .9*(rollComp + deltaRoll);
  pitchComp= .1*pitchRAW +.9*(pitchComp +deltaPitch);

  Serial.print("rollComp:");
  Serial.print(rollComp);
  Serial.print(',');
  Serial.print("pitchComp:");
  Serial.print(pitchComp);
  Serial.print(',');
  Serial.print("yawG:");
  Serial.print(yawG);
  Serial.print(',');
  // Serial.print("rollComp:");
  // Serial.print(rollComp);
  // Serial.print(',');
  // Serial.print("pitchG:");
  // Serial.print(pitchG);
  // Serial.print(',');
  // Serial.print("yawG:");
  // Serial.print(yawG);
  // Serial.print(',');
  Serial.print("UL:");
  Serial.print(90);
  Serial.print(',');
  Serial.print("LL:");
  Serial.println(-90);

  //   Serial.print("Ax:");
  //   Serial.print(Ax);
  //   Serial.print(',');
  //   Serial.print("Ay:");
  //   Serial.print(Ay);
  //   Serial.print(',');
  //     Serial.print("Az:");
  //   Serial.print(Az);
  //   Serial.print(',');
  //  Serial.print("UL:");
  //  Serial.print(1);
  //  Serial.print(',');
  //  Serial.print("LL:");
  //  Serial.println(-1);
  delay(1);
}

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#include <Adafruit_MPU6050.h>

#include <Adafruit_Sensor.h>

#include <Wire.h>

float Ax;

float Ay;

float Az;

float Gx;

float Gy;

float Gz;

float rollG=0;

float pitchG=0;

float yawG=0;

float gyroXOffset=0;

float gyroYOffset=0;

float gyroZOffset=0;

int tStart = millis();

// If You want Calibrated results, you must rotate

// your board to all possible orientations, and

// record your velues of xMax, xMin, yMax, yMin

// zMax, zMin. I show you how to do that in LESSON

// 79 on my youtube channel. Put in your values and then

// uncomment the code below. Don't use my values, you have

// to measure your own for it to work.

// float xMax= 1.03;

// float xMin= -.97;

// float yMax= .98;

// float yMin= -1.01;

// float zMax=.96 ;

// float zMin= -1.08;

// float xOffset = (xMax+xMin)/2;

// float yOffset = (yMax+yMin)/2;

// float zOffset = (zMax+zMin)/2;

// float xScale = 2/(xMax -xMin);

// float yScale = 2/(yMax - yMin);

// float zScale = 2/(zMax -zMin);

float rollLP = 0;

float pitchLP = 0;

float rollRAW;

float pitchRAW;

float rollComp=0;

float pitchComp=0;

float deltaRoll=0;

float deltaPitch=0;

Adafruit_MPU6050 mpu;

void calibrateGyro(){

Serial.println("Calibrating the Gyro: Keep Completely Stationary");

delay(1000);

int i;

float sumX = 0;

float sumY = 0;

float sumZ = 0;

int numPoints=100;

for (i=0;i<numPoints;i=i+1){

sensors_event_t a, g, temp;

mpu.getEvent(&a, &g, &temp);

sumX = sumX + g.gyro.x;

sumY = sumY + g.gyro.y;

sumZ = sumZ + g.gyro.z;

delay(10);

}

gyroXOffset = sumX/numPoints;

gyroYOffset = sumY/numPoints;

gyroZOffset = sumZ/numPoints;

}

void setup() {

// put your setup code here, to run once:

Serial.begin(115200);

mpu.begin();

Serial.println("MPU6050 Started!");

mpu.setAccelerometerRange(MPU6050_RANGE_2_G);

mpu.setGyroRange(MPU6050_RANGE_2000_DEG);

mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);

calibrateGyro();

tStart = millis();

}

void loop() {

// put your main code here, to run repeatedly:

sensors_event_t a, g, temp;

mpu.getEvent(&a, &g, &temp);

Ax = a.acceleration.x / 9.81;

Ay = a.acceleration.y / 9.81;

Az = a.acceleration.z / 9.81;

Gx = g.gyro.x-gyroXOffset;

Gy = -(g.gyro.y-gyroYOffset);

Gz = g.gyro.z-gyroZOffset;

rollG = rollG + (millis() - tStart)/1000. * Gy *360./2./3.14;

pitchG = pitchG + (millis() - tStart)/1000. * Gx *360./2./3.14;

yawG = yawG + (millis() - tStart)/1000. * Gz *360./2./3.14;

deltaRoll=(millis() - tStart)/1000. * Gy *360./2./3.14;

deltaPitch=(millis() - tStart)/1000. * Gx *360./2./3.14;

tStart = millis();

//Uncomment these lines of code to do the callibration

//This will only work if you have measured your max

//and min values, and put them in at the top of the code

// Ax = xScale*(Ax-xOffset);

// Ay = yScale*(Ay-yOffset);

// Az = zScale*(Az-zOffset);

pitchRAW = atan2(Ay, sqrt(Az * Az + Ax * Ax)) * 360 / (2 * 3.14);

rollRAW = atan2(Ax, sqrt(Az * Az + Ay * Ay)) * 360 / (2 * 3.14);

pitchLP = .75 * pitchLP + .25 * pitchRAW;

rollLP = .75 * rollLP + .25 * rollRAW;

rollComp= .1*rollRAW + .9*(rollComp + deltaRoll);

pitchComp= .1*pitchRAW +.9*(pitchComp +deltaPitch);

Serial.print("rollComp:");

Serial.print(rollComp);

Serial.print(',');

Serial.print("pitchComp:");

Serial.print(pitchComp);

Serial.print(',');

Serial.print("yawG:");

Serial.print(yawG);

Serial.print(',');

// Serial.print("rollComp:");

// Serial.print(rollComp);

// Serial.print(',');

// Serial.print("pitchG:");

// Serial.print(pitchG);

// Serial.print(',');

// Serial.print("yawG:");

// Serial.print(yawG);

// Serial.print(',');

Serial.print("UL:");

Serial.print(90);

Serial.print(',');

Serial.print("LL:");

Serial.println(-90);

// Serial.print("Ax:");

// Serial.print(Ax);

// Serial.print(',');

// Serial.print("Ay:");

// Serial.print(Ay);

// Serial.print(',');

// Serial.print("Az:");

// Serial.print(Az);

// Serial.print(',');

// Serial.print("UL:");

// Serial.print(1);

// Serial.print(',');

// Serial.print("LL:");

// Serial.println(-1);

delay(1);

}

Arduino

Reducing Gyro Drift in MPU6050 IMU Arduino Project

September 11, 2025 admin

In this video lesson we learn how to reduce drift in our roll, pitch, and yaw from the MPU6050 IMU Arduino Project. We will be using the following schematic in today’s work.

This is the code we developed in this lesson:

#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>
float Ax;
float Ay;
float Az;

float Gx;
float Gy;
float Gz;

float rollG=0;
float pitchG=0;
float yawG=0;

float gyroXOffset=0;
float gyroYOffset=0;
float gyroZOffset=0;

int tStart = millis();

// If You want Calibrated results, you must rotate
// your board to all possible orientations, and
// record your velues of xMax, xMin, yMax, yMin
// zMax, zMin. I show you how to do that in LESSON
// 79 on my youtube channel. Put in your values and then
// uncomment the code below. Don't use my values, you have
// to measure your own for it to work.

// float xMax= 1.03;
// float xMin= -.97;
// float yMax= .98;
// float yMin= -1.01;
// float zMax=.96 ;
// float zMin= -1.08;

// float xOffset = (xMax+xMin)/2;
// float yOffset = (yMax+yMin)/2;
// float zOffset = (zMax+zMin)/2;

// float xScale = 2/(xMax -xMin);
// float yScale = 2/(yMax - yMin);
// float zScale = 2/(zMax -zMin);

float roll = 0;

float pitch = 0;
float rollRAW;
float pitchRAW;

Adafruit_MPU6050 mpu;

void calibrateGyro(){
Serial.println("Calibrating the Gyro: Keep Completely Stationary");
delay(1000);
int i;
float sumX = 0;
float sumY = 0;
float sumZ = 0;
int numPoints=1000;
for (i=0;i<numPoints;i=i+1){
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);
  sumX = sumX + g.gyro.x;
  sumY = sumY + g.gyro.y;
  sumZ = sumZ + g.gyro.z;
  delay(10);
}
gyroXOffset = sumX/numPoints;
gyroYOffset = sumY/numPoints;
gyroZOffset = sumZ/numPoints;

}

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  mpu.begin();
  Serial.println("MPU6050 Started!");
  mpu.setAccelerometerRange(MPU6050_RANGE_2_G);
  mpu.setGyroRange(MPU6050_RANGE_2000_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
calibrateGyro();
tStart = millis();
}

void loop() {
  // put your main code here, to run repeatedly:
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);
  Ax = a.acceleration.x / 9.81;
  Ay = a.acceleration.y / 9.81;
  Az = a.acceleration.z / 9.81;

  Gx = g.gyro.x-gyroXOffset;
  Gy = g.gyro.y-gyroYOffset;
  Gz = g.gyro.z-gyroZOffset;

rollG = rollG + (millis() - tStart)/1000. * Gy *360./2./3.14;
pitchG = pitchG + (millis() - tStart)/1000. * Gx *360./2./3.14;
yawG = yawG + (millis() - tStart)/1000. * Gz *360./2./3.14;
tStart = millis();

  //Uncomment these lines of code to do the callibration
  //This will only work if you have measured your max
  //and min values, and put them in at the top of the code
  // Ax = xScale*(Ax-xOffset);
  // Ay = yScale*(Ay-yOffset);
  // Az = zScale*(Az-zOffset);

  pitchRAW = atan2(Ay, sqrt(Az * Az + Ax * Ax)) * 360 / (2 * 3.14);
  rollRAW = atan2(Ax, sqrt(Az * Az + Ay * Ay)) * 360 / (2 * 3.14);

  pitch = .75 * pitch + .25 * pitchRAW;
  roll = .75 * roll + .25 * rollRAW;

  Serial.print("Gx:");
  Serial.print(Gx);
  Serial.print(',');
  Serial.print("Gy:");
  Serial.print(Gy);
  Serial.print(',');
  Serial.print("Gz:");
  Serial.print(Gz);
  Serial.print(',');
  Serial.print("rollG:");
  Serial.print(rollG);
  Serial.print(',');
  Serial.print("pitchG:");
  Serial.print(pitchG);
  Serial.print(',');
  Serial.print("yawG:");
  Serial.print(yawG);
  Serial.print(',');
  Serial.print("UL:");
  Serial.print(90);
  Serial.print(',');
  Serial.print("LL:");
  Serial.println(-90);

  //   Serial.print("Ax:");
  //   Serial.print(Ax);
  //   Serial.print(',');
  //   Serial.print("Ay:");
  //   Serial.print(Ay);
  //   Serial.print(',');
  //     Serial.print("Az:");
  //   Serial.print(Az);
  //   Serial.print(',');
  //  Serial.print("UL:");
  //  Serial.print(1);
  //  Serial.print(',');
  //  Serial.print("LL:");
  //  Serial.println(-1);
  delay(1);
}

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#include <Adafruit_MPU6050.h>

#include <Adafruit_Sensor.h>

#include <Wire.h>

float Ax;

float Ay;

float Az;

float Gx;

float Gy;

float Gz;

float rollG=0;

float pitchG=0;

float yawG=0;

float gyroXOffset=0;

float gyroYOffset=0;

float gyroZOffset=0;

int tStart = millis();

// If You want Calibrated results, you must rotate

// your board to all possible orientations, and

// record your velues of xMax, xMin, yMax, yMin

// zMax, zMin. I show you how to do that in LESSON

// 79 on my youtube channel. Put in your values and then

// uncomment the code below. Don't use my values, you have

// to measure your own for it to work.

// float xMax= 1.03;

// float xMin= -.97;

// float yMax= .98;

// float yMin= -1.01;

// float zMax=.96 ;

// float zMin= -1.08;

// float xOffset = (xMax+xMin)/2;

// float yOffset = (yMax+yMin)/2;

// float zOffset = (zMax+zMin)/2;

// float xScale = 2/(xMax -xMin);

// float yScale = 2/(yMax - yMin);

// float zScale = 2/(zMax -zMin);

float roll = 0;

float pitch = 0;

float rollRAW;

float pitchRAW;

Adafruit_MPU6050 mpu;

void calibrateGyro(){

Serial.println("Calibrating the Gyro: Keep Completely Stationary");

delay(1000);

int i;

float sumX = 0;

float sumY = 0;

float sumZ = 0;

int numPoints=1000;

for (i=0;i<numPoints;i=i+1){

sensors_event_t a, g, temp;

mpu.getEvent(&a, &g, &temp);

sumX = sumX + g.gyro.x;

sumY = sumY + g.gyro.y;

sumZ = sumZ + g.gyro.z;

delay(10);

}

gyroXOffset = sumX/numPoints;

gyroYOffset = sumY/numPoints;

gyroZOffset = sumZ/numPoints;

}

void setup() {

// put your setup code here, to run once:

Serial.begin(115200);

mpu.begin();

Serial.println("MPU6050 Started!");

mpu.setAccelerometerRange(MPU6050_RANGE_2_G);

mpu.setGyroRange(MPU6050_RANGE_2000_DEG);

mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);

calibrateGyro();

tStart = millis();

}

void loop() {

// put your main code here, to run repeatedly:

sensors_event_t a, g, temp;

mpu.getEvent(&a, &g, &temp);

Ax = a.acceleration.x / 9.81;

Ay = a.acceleration.y / 9.81;

Az = a.acceleration.z / 9.81;

Gx = g.gyro.x-gyroXOffset;

Gy = g.gyro.y-gyroYOffset;

Gz = g.gyro.z-gyroZOffset;

rollG = rollG + (millis() - tStart)/1000. * Gy *360./2./3.14;

pitchG = pitchG + (millis() - tStart)/1000. * Gx *360./2./3.14;

yawG = yawG + (millis() - tStart)/1000. * Gz *360./2./3.14;

tStart = millis();

//Uncomment these lines of code to do the callibration

//This will only work if you have measured your max

//and min values, and put them in at the top of the code

// Ax = xScale*(Ax-xOffset);

// Ay = yScale*(Ay-yOffset);

// Az = zScale*(Az-zOffset);

pitchRAW = atan2(Ay, sqrt(Az * Az + Ax * Ax)) * 360 / (2 * 3.14);

rollRAW = atan2(Ax, sqrt(Az * Az + Ay * Ay)) * 360 / (2 * 3.14);

pitch = .75 * pitch + .25 * pitchRAW;

roll = .75 * roll + .25 * rollRAW;

Serial.print("Gx:");

Serial.print(Gx);

Serial.print(',');

Serial.print("Gy:");

Serial.print(Gy);

Serial.print(',');

Serial.print("Gz:");

Serial.print(Gz);

Serial.print(',');

Serial.print("rollG:");

Serial.print(rollG);

Serial.print(',');

Serial.print("pitchG:");

Serial.print(pitchG);

Serial.print(',');

Serial.print("yawG:");

Serial.print(yawG);

Serial.print(',');

Serial.print("UL:");

Serial.print(90);

Serial.print(',');

Serial.print("LL:");

Serial.println(-90);

// Serial.print("Ax:");

// Serial.print(Ax);

// Serial.print(',');

// Serial.print("Ay:");

// Serial.print(Ay);

// Serial.print(',');

// Serial.print("Az:");

// Serial.print(Az);

// Serial.print(',');

// Serial.print("UL:");

// Serial.print(1);

// Serial.print(',');

// Serial.print("LL:");

// Serial.println(-1);

delay(1);

}

Arduino, Python

Python PyQt5 Magnetometer Calibration Program

September 4, 2025 admin

In this video lesson we show how to calibrate a QMC5883L 3-Axis magnetometer using python and PyQt5. The program presents the user with a visual representation of the magnetic vector, allowing more precise calibration of the sensors. We are using the GY-87 module, and it is connected like this:

This is the simple code on the Arduino side, sending the raw magnetometer data:

#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>
#include <QMC5883LCompass.h>
int x,y,z;
Adafruit_MPU6050 mpu;
QMC5883LCompass compass;
void setup() {
Serial.begin(115200);
mpu.begin();
mpu.setI2CBypass(true);
compass.init();
}
void loop() {
 compass.read();
 x = compass.getX();
 y = compass.getY();
 z = compass.getZ();
Serial.print(x);
Serial.print(',');
Serial.print(y);
Serial.print(',');
Serial.println(z);
 delay(100);
}

#include <Adafruit_MPU6050.h>

#include <Adafruit_Sensor.h>

#include <Wire.h>

#include <QMC5883LCompass.h>

int x,y,z;

Adafruit_MPU6050 mpu;

QMC5883LCompass compass;

void setup() {

Serial.begin(115200);

mpu.begin();

mpu.setI2CBypass(true);

compass.init();

}

void loop() {

compass.read();

x = compass.getX();

y = compass.getY();

z = compass.getZ();

Serial.print(x);

Serial.print(',');

Serial.print(y);

Serial.print(',');

Serial.println(z);

delay(100);

}

This is the calibration code, running on the Python side;

import serial
import numpy as np
from PyQt5 import QtWidgets, QtCore
import pyqtgraph as pg
serialPort = 'COM8'
baudRate =115200
to =.1
ser =serial.Serial(serialPort, baudRate, timeout=to)
maxPoints = 2000
xRaw = np.empty(0)
yRaw = np.empty(0)
zRaw = np.empty(0)

xCal = np.empty(0)
yCal = np.empty(0)
zCal = np.empty(0)

calibrated = False
offsets = np.zeros(3)
scales = np.ones(3)

app = QtWidgets.QApplication([])
mainWindow = QtWidgets.QWidget()
mainWindow.setWindowTitle("Magnetometer Calibratioin")
mainLayout =QtWidgets.QVBoxLayout()
mainWindow.setLayout(mainLayout)

statusLabel = QtWidgets.QLabel("Program Running: Not Calibrated")
statusLabel.setAlignment(QtCore.Qt.AlignCenter)
statusLabel.setStyleSheet("color: green; font-weight: bold; font-size: 20px;")
mainLayout.addWidget(statusLabel)

minMaxLabel=QtWidgets.QLabel("Min/Max: N/A")
minMaxLabel.setAlignment(QtCore.Qt.AlignCenter)
minMaxLabel.setStyleSheet("color: green; font-weight: bold; font-size: 16px;")
mainLayout.addWidget(minMaxLabel)

calibrateButton = QtWidgets.QPushButton("Start Calibration")
calibrateButton.setCheckable(True)
mainLayout.addWidget(calibrateButton)


plotLayout =QtWidgets.QGridLayout()
mainLayout.addLayout(plotLayout)
xyPlot = pg.PlotWidget(title="XY Plane")
yzPlot = pg.PlotWidget(title="YZ Plane")
xzPlot = pg.PlotWidget(title="XZ Plane")
for plot in [xyPlot, yzPlot, xzPlot]:
    plot.setAspectLocked(True)
    plot.showGrid(x=True, y=True)
    plot.setMinimumSize(300,300)
plotLayout.addWidget(xyPlot, 0,0)
plotLayout.addWidget(yzPlot, 0,1)
plotLayout.addWidget(xzPlot, 1,0)

xyScatter = pg.ScatterPlotItem(size=5)
yzScatter = pg.ScatterPlotItem(size=5)
xzScatter = pg.ScatterPlotItem(size=5)

xyPlot.addItem(xyScatter)
yzPlot.addItem(yzScatter)
xzPlot.addItem(xzScatter)

def toggleCalibration():
    global calibrated, xRaw, yRaw, zRaw, xCal, yCal, zCal, offsets, scales
    
    if calibrateButton.isChecked():
        calibrateButton.setText("Stop Calibration")
        statusLabel.setText("Mode: Calibration")
        statusLabel.setStyleSheet("color: red; font-weight: bold; font-size: 20px;")
        minMaxLabel.setText("Min/Max: collecting . . .")
        minMaxLabel.setStyleSheet("color: red; font-weight: bold; font-size: 16px;")
        calibrated = False
        xRaw = np.empty(0)
        yRaw = np.empty(0)
        zRaw = np.empty(0)
    if not calibrateButton.isChecked():
        calibrateButton.setText("Start Calibration")
        statusLabel.setText("Mode: Calibrated")
        statusLabel.setStyleSheet("color: green; font-weight: bold; font-size: 20px;")
        
        rawData = np.column_stack((xRaw,yRaw,zRaw))
        minVals = np.min(rawData, axis=0)
        maxVals = np.max(rawData, axis=0)
        offsets = (maxVals + minVals)/2
        scales = 2.0/(maxVals-minVals)
        minMaxLabel.setStyleSheet("color: green; font-weight: bold; font-size: 16px;")
        minMaxLabel.setText("Min(x,y,z: "+str(minVals.round(2))+" Max(x,y,z): "
                            +str(maxVals.round(2))+" Offsets(x,y,z): "+str(offsets.round(2))
                            +"Scales(x,y,z): "+str(scales.round(5)))
        print("Calibration Completed.")
        print("Offsets: ", offsets)
        print("Scales: ", scales)
        
        xCal = np.empty(0)
        yCal = np.empty(0)
        zCal = np.empty(0)
        calibrated = True

calibrateButton.clicked.connect(toggleCalibration)
        
def updatePlot():
    global xRaw, yRaw, zRaw, xCal, yCal, zCal
    if ser.in_waiting > 0:
        try:
            line= ser.readline().decode('utf-8').strip()
            values = line.split(',')
            if len(values)==3:
                x = float(values[0])
                y = float(values[1])
                z = float(values[2])
                if not calibrated:
                    xRaw =np.append(xRaw, x)[-maxPoints:]
                    yRaw =np.append(yRaw, y)[-maxPoints:]
                    zRaw =np.append(zRaw, z)[-maxPoints:]
                    xyScatter.setData(x=xRaw, y=yRaw, brush=pg.mkBrush(0,0,255,255))
                    yzScatter.setData(x=yRaw, y=zRaw, brush=pg.mkBrush(0,255,0,255))
                    xzScatter.setData(x=xRaw, y=zRaw, brush=pg.mkBrush(255,0,0,255))
                    
                    if len(xRaw)>10:
                        minVals = np.min(np.column_stack((xRaw,yRaw,zRaw)),axis=0)
                        maxVals = np.max(np.column_stack((xRaw,yRaw,zRaw)),axis=0)
                        
                        minMaxLabel.setStyleSheet("color: red; font-weight: bold; font-size: 16px;")
                        minMaxLabel.setText("Min(x,y,z: "+str(minVals.round(2))+" Max(x,y,z): "
                            +str(maxVals.round(2)))
                
                if calibrated:
                    xC= (x - offsets[0])*scales[0]
                    yC= (y - offsets[1])*scales[1]
                    zC= (z - offsets[2])*scales[2]
                    
                    xCal = np.append(xCal, xC)[-maxPoints:]
                    yCal = np.append(yCal, yC)[-maxPoints:]
                    zCal = np.append(zCal, zC)[-maxPoints:]
                    
                    xyScatter.setData(x=xCal, y=yCal, brush=pg.mkBrush(0,0,255,120))
                    yzScatter.setData(x=yCal, y=zCal, brush=pg.mkBrush(0,255,0,120))
                    xzScatter.setData(x=xCal, y=zCal, brush=pg.mkBrush(255,0,0,120))             
        
        except Exception as e:
            print("Parse Error: ", e)

plotTimer =QtCore.QTimer()
plotTimer.timeout.connect(updatePlot)
plotTimer.start(50)
mainWindow.show()
try:
    app.exec_()
finally:
    ser.close()

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import serial

import numpy as np

from PyQt5 import QtWidgets, QtCore

import pyqtgraph as pg

serialPort = 'COM8'

baudRate =115200

to =.1

ser =serial.Serial(serialPort, baudRate, timeout=to)

maxPoints = 2000

xRaw = np.empty(0)

yRaw = np.empty(0)

zRaw = np.empty(0)

xCal = np.empty(0)

yCal = np.empty(0)

zCal = np.empty(0)

calibrated = False

offsets = np.zeros(3)

scales = np.ones(3)

app = QtWidgets.QApplication([])

mainWindow = QtWidgets.QWidget()

mainWindow.setWindowTitle("Magnetometer Calibratioin")

mainLayout =QtWidgets.QVBoxLayout()

mainWindow.setLayout(mainLayout)

statusLabel = QtWidgets.QLabel("Program Running: Not Calibrated")

statusLabel.setAlignment(QtCore.Qt.AlignCenter)

statusLabel.setStyleSheet("color: green; font-weight: bold; font-size: 20px;")

mainLayout.addWidget(statusLabel)

minMaxLabel=QtWidgets.QLabel("Min/Max: N/A")

minMaxLabel.setAlignment(QtCore.Qt.AlignCenter)

minMaxLabel.setStyleSheet("color: green; font-weight: bold; font-size: 16px;")

mainLayout.addWidget(minMaxLabel)

calibrateButton = QtWidgets.QPushButton("Start Calibration")

calibrateButton.setCheckable(True)

mainLayout.addWidget(calibrateButton)

plotLayout =QtWidgets.QGridLayout()

mainLayout.addLayout(plotLayout)

xyPlot = pg.PlotWidget(title="XY Plane")

yzPlot = pg.PlotWidget(title="YZ Plane")

xzPlot = pg.PlotWidget(title="XZ Plane")

for plot in [xyPlot, yzPlot, xzPlot]:

plot.setAspectLocked(True)

plot.showGrid(x=True, y=True)

plot.setMinimumSize(300,300)

plotLayout.addWidget(xyPlot, 0,0)

plotLayout.addWidget(yzPlot, 0,1)

plotLayout.addWidget(xzPlot, 1,0)

xyScatter = pg.ScatterPlotItem(size=5)

yzScatter = pg.ScatterPlotItem(size=5)

xzScatter = pg.ScatterPlotItem(size=5)

xyPlot.addItem(xyScatter)

yzPlot.addItem(yzScatter)

xzPlot.addItem(xzScatter)

def toggleCalibration():

global calibrated, xRaw, yRaw, zRaw, xCal, yCal, zCal, offsets, scales

if calibrateButton.isChecked():

calibrateButton.setText("Stop Calibration")

statusLabel.setText("Mode: Calibration")

statusLabel.setStyleSheet("color: red; font-weight: bold; font-size: 20px;")

minMaxLabel.setText("Min/Max: collecting . . .")

minMaxLabel.setStyleSheet("color: red; font-weight: bold; font-size: 16px;")

calibrated = False

xRaw = np.empty(0)

yRaw = np.empty(0)

zRaw = np.empty(0)

if not calibrateButton.isChecked():

calibrateButton.setText("Start Calibration")

statusLabel.setText("Mode: Calibrated")

statusLabel.setStyleSheet("color: green; font-weight: bold; font-size: 20px;")

rawData = np.column_stack((xRaw,yRaw,zRaw))

minVals = np.min(rawData, axis=0)

maxVals = np.max(rawData, axis=0)

offsets = (maxVals + minVals)/2

scales = 2.0/(maxVals-minVals)

minMaxLabel.setStyleSheet("color: green; font-weight: bold; font-size: 16px;")

minMaxLabel.setText("Min(x,y,z: "+str(minVals.round(2))+" Max(x,y,z): "

+str(maxVals.round(2))+" Offsets(x,y,z): "+str(offsets.round(2))

+"Scales(x,y,z): "+str(scales.round(5)))

print("Calibration Completed.")

print("Offsets: ", offsets)

print("Scales: ", scales)

xCal = np.empty(0)

yCal = np.empty(0)

zCal = np.empty(0)

calibrated = True

calibrateButton.clicked.connect(toggleCalibration)

def updatePlot():

global xRaw, yRaw, zRaw, xCal, yCal, zCal

if ser.in_waiting > 0:

try:

line= ser.readline().decode('utf-8').strip()

values = line.split(',')

if len(values)==3:

x = float(values[0])

y = float(values[1])

z = float(values[2])

if not calibrated:

xRaw =np.append(xRaw, x)[-maxPoints:]

yRaw =np.append(yRaw, y)[-maxPoints:]

zRaw =np.append(zRaw, z)[-maxPoints:]

xyScatter.setData(x=xRaw, y=yRaw, brush=pg.mkBrush(0,0,255,255))

yzScatter.setData(x=yRaw, y=zRaw, brush=pg.mkBrush(0,255,0,255))

xzScatter.setData(x=xRaw, y=zRaw, brush=pg.mkBrush(255,0,0,255))

if len(xRaw)>10:

minVals = np.min(np.column_stack((xRaw,yRaw,zRaw)),axis=0)

maxVals = np.max(np.column_stack((xRaw,yRaw,zRaw)),axis=0)

minMaxLabel.setStyleSheet("color: red; font-weight: bold; font-size: 16px;")

minMaxLabel.setText("Min(x,y,z: "+str(minVals.round(2))+" Max(x,y,z): "

+str(maxVals.round(2)))

if calibrated:

xC= (x - offsets[0])*scales[0]

yC= (y - offsets[1])*scales[1]

zC= (z - offsets[2])*scales[2]

xCal = np.append(xCal, xC)[-maxPoints:]

yCal = np.append(yCal, yC)[-maxPoints:]

zCal = np.append(zCal, zC)[-maxPoints:]

xyScatter.setData(x=xCal, y=yCal, brush=pg.mkBrush(0,0,255,120))

yzScatter.setData(x=yCal, y=zCal, brush=pg.mkBrush(0,255,0,120))

xzScatter.setData(x=xCal, y=zCal, brush=pg.mkBrush(255,0,0,120))

except Exception as e:

print("Parse Error: ", e)

plotTimer =QtCore.QTimer()

plotTimer.timeout.connect(updatePlot)

plotTimer.start(50)

mainWindow.show()

try:

app.exec_()

finally:

ser.close()

Arduino

Calculating Roll, Pitch and Yaw from Gyros on Our Arduino MPU6050 IMU Project

August 28, 2025 admin

In this video lesson we will examine how we can calculate Roll, Pitch and Yaw from the MPU6050 IMU. For this lesson we calculate from just the Gyro measurements.

Below is the code which we developed in this lesson:

#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>
float Ax;
float Ay;
float Az;

float Gx;
float Gy;
float Gz;

float rollG=0;
float pitchG=0;
float yawG=0;

int tStart = millis();

// If You want Calibrated results, you must rotate
// your board to all possible orientations, and
// record your velues of xMax, xMin, yMax, yMin
// zMax, zMin. I show you how to do that in LESSON
// 79 on my youtube channel. Put in your values and then
// uncomment the code below. Don't use my values, you have
// to measure your own for it to work.

// float xMax= 1.03;
// float xMin= -.97;
// float yMax= .98;
// float yMin= -1.01;
// float zMax=.96 ;
// float zMin= -1.08;

// float xOffset = (xMax+xMin)/2;
// float yOffset = (yMax+yMin)/2;
// float zOffset = (zMax+zMin)/2;

// float xScale = 2/(xMax -xMin);
// float yScale = 2/(yMax - yMin);
// float zScale = 2/(zMax -zMin);

float roll = 0;
float pitch = 0;
float rollRAW;
float pitchRAW;

Adafruit_MPU6050 mpu;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  mpu.begin();
  Serial.println("MPU6050 Started!");
  mpu.setAccelerometerRange(MPU6050_RANGE_2_G);
  mpu.setGyroRange(MPU6050_RANGE_250_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);

tStart = millis();
}

void loop() {
  // put your main code here, to run repeatedly:
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);
  Ax = a.acceleration.x / 9.81;
  Ay = a.acceleration.y / 9.81;
  Az = a.acceleration.z / 9.81;

  Gx = g.gyro.x;
  Gy = g.gyro.y;
  Gz = g.gyro.z;

rollG = rollG + (millis() - tStart)/1000. * Gy *360./2./3.14;
pitchG = pitchG + (millis() - tStart)/1000. * Gx *360./2./3.14;
yawG = yawG + (millis() - tStart)/1000. * Gz *360./2./3.14;
tStart = millis();

  //Uncomment these lines of code to do the callibration
  //This will only work if you have measured your max
  //and min values, and put them in at the top of the code
  // Ax = xScale*(Ax-xOffset);
  // Ay = yScale*(Ay-yOffset);
  // Az = zScale*(Az-zOffset);

  pitchRAW = atan2(Ay, sqrt(Az * Az + Ax * Ax)) * 360 / (2 * 3.14);
  rollRAW = atan2(Ax, sqrt(Az * Az + Ay * Ay)) * 360 / (2 * 3.14);

  pitch = .75 * pitch + .25 * pitchRAW;
  roll = .75 * roll + .25 * rollRAW;

  Serial.print("Gx:");
  Serial.print(Gx);
  Serial.print(',');
  Serial.print("Gy:");
  Serial.print(Gy);
  Serial.print(',');
  Serial.print("Gz:");
  Serial.print(Gz);
  Serial.print(',');
  Serial.print("rollG:");
  Serial.print(rollG);
  Serial.print(',');
  Serial.print("pitchG:");
  Serial.print(pitchG);
  Serial.print(',');
  Serial.print("yawG:");
  Serial.print(yawG);
  Serial.print(',');
  Serial.print("UL:");
  Serial.print(45);
  Serial.print(',');
  Serial.print("LL:");
  Serial.println(-45);

  //   Serial.print("Ax:");
  //   Serial.print(Ax);
  //   Serial.print(',');
  //   Serial.print("Ay:");
  //   Serial.print(Ay);
  //   Serial.print(',');
  //     Serial.print("Az:");
  //   Serial.print(Az);
  //   Serial.print(',');
  //  Serial.print("UL:");
  //  Serial.print(1);
  //  Serial.print(',');
  //  Serial.print("LL:");
  //  Serial.println(-1);
  delay(10);
}

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#include <Adafruit_MPU6050.h>

#include <Adafruit_Sensor.h>

#include <Wire.h>

float Ax;

float Ay;

float Az;

float Gx;

float Gy;

float Gz;

float rollG=0;

float pitchG=0;

float yawG=0;

int tStart = millis();

// If You want Calibrated results, you must rotate

// your board to all possible orientations, and

// record your velues of xMax, xMin, yMax, yMin

// zMax, zMin. I show you how to do that in LESSON

// 79 on my youtube channel. Put in your values and then

// uncomment the code below. Don't use my values, you have

// to measure your own for it to work.

// float xMax= 1.03;

// float xMin= -.97;

// float yMax= .98;

// float yMin= -1.01;

// float zMax=.96 ;

// float zMin= -1.08;

// float xOffset = (xMax+xMin)/2;

// float yOffset = (yMax+yMin)/2;

// float zOffset = (zMax+zMin)/2;

// float xScale = 2/(xMax -xMin);

// float yScale = 2/(yMax - yMin);

// float zScale = 2/(zMax -zMin);

float roll = 0;

float pitch = 0;

float rollRAW;

float pitchRAW;

Adafruit_MPU6050 mpu;

void setup() {

// put your setup code here, to run once:

Serial.begin(115200);

mpu.begin();

Serial.println("MPU6050 Started!");

mpu.setAccelerometerRange(MPU6050_RANGE_2_G);

mpu.setGyroRange(MPU6050_RANGE_250_DEG);

mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);

tStart = millis();

}

void loop() {

// put your main code here, to run repeatedly:

sensors_event_t a, g, temp;

mpu.getEvent(&a, &g, &temp);

Ax = a.acceleration.x / 9.81;

Ay = a.acceleration.y / 9.81;

Az = a.acceleration.z / 9.81;

Gx = g.gyro.x;

Gy = g.gyro.y;

Gz = g.gyro.z;

rollG = rollG + (millis() - tStart)/1000. * Gy *360./2./3.14;

pitchG = pitchG + (millis() - tStart)/1000. * Gx *360./2./3.14;

yawG = yawG + (millis() - tStart)/1000. * Gz *360./2./3.14;

tStart = millis();

//Uncomment these lines of code to do the callibration

//This will only work if you have measured your max

//and min values, and put them in at the top of the code

// Ax = xScale*(Ax-xOffset);

// Ay = yScale*(Ay-yOffset);

// Az = zScale*(Az-zOffset);

pitchRAW = atan2(Ay, sqrt(Az * Az + Ax * Ax)) * 360 / (2 * 3.14);

rollRAW = atan2(Ax, sqrt(Az * Az + Ay * Ay)) * 360 / (2 * 3.14);

pitch = .75 * pitch + .25 * pitchRAW;

roll = .75 * roll + .25 * rollRAW;

Serial.print("Gx:");

Serial.print(Gx);

Serial.print(',');

Serial.print("Gy:");

Serial.print(Gy);

Serial.print(',');

Serial.print("Gz:");

Serial.print(Gz);

Serial.print(',');

Serial.print("rollG:");

Serial.print(rollG);

Serial.print(',');

Serial.print("pitchG:");

Serial.print(pitchG);

Serial.print(',');

Serial.print("yawG:");

Serial.print(yawG);

Serial.print(',');

Serial.print("UL:");

Serial.print(45);

Serial.print(',');

Serial.print("LL:");

Serial.println(-45);

// Serial.print("Ax:");

// Serial.print(Ax);

// Serial.print(',');

// Serial.print("Ay:");

// Serial.print(Ay);

// Serial.print(',');

// Serial.print("Az:");

// Serial.print(Az);

// Serial.print(',');

// Serial.print("UL:");

// Serial.print(1);

// Serial.print(',');

// Serial.print("LL:");

// Serial.println(-1);

delay(10);

}

Arduino, Tutorial

Using Arduino and MPU6050 to Measure Rotational Velocity with the Gyros

August 21, 2025 admin

In this video lesson I show you how you can measure rotational velocity using the gyroscopes on the MPU6050 IMU module on the GY-87 board.

Below is the code which we develop in this lesson.

#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>
float Ax;
float Ay;
float Az;

float Gx;
float Gy;
float Gz;

// If You want Calibrated results, you must rotate
// your board to all possible orientations, and
// record your velues of xMax, xMin, yMax, yMin
// zMax, zMin. I show you how to do that in LESSON
// 79 on my youtube channel. Put in your values and then
// uncomment the code below. Don't use my values, you have
// to measure your own for it to work.

// float xMax= 1.03;
// float xMin= -.97;
// float yMax= .98;
// float yMin= -1.01;
// float zMax=.96 ;
// float zMin= -1.08;

// float xOffset = (xMax+xMin)/2;
// float yOffset = (yMax+yMin)/2;
// float zOffset = (zMax+zMin)/2;

// float xScale = 2/(xMax -xMin);
// float yScale = 2/(yMax - yMin);
// float zScale = 2/(zMax -zMin);

float roll = 0;
float pitch = 0;
float rollRAW;
float pitchRAW;

Adafruit_MPU6050 mpu;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  mpu.begin();
  Serial.println("MPU6050 Started!");
  mpu.setAccelerometerRange(MPU6050_RANGE_2_G);
  mpu.setGyroRange(MPU6050_RANGE_250_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
}

void loop() {
  // put your main code here, to run repeatedly:
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);
  Ax = a.acceleration.x / 9.81;
  Ay = a.acceleration.y / 9.81;
  Az = a.acceleration.z / 9.81;

  Gx = g.gyro.x;
  Gy = g.gyro.y;
  Gz = g.gyro.z;



  //Uncomment these lines of code to do the callibration
  //This will only work if you have measured your max
  //and min values, and put them in at the top of the code
  // Ax = xScale*(Ax-xOffset);
  // Ay = yScale*(Ay-yOffset);
  // Az = zScale*(Az-zOffset);

  pitchRAW = atan2(Ay, sqrt(Az * Az + Ax * Ax)) * 360 / (2 * 3.14);
  rollRAW = atan2(Ax, sqrt(Az * Az + Ay * Ay)) * 360 / (2 * 3.14);

  pitch = .75 * pitch + .25 * pitchRAW;
  roll = .75 * roll + .25 * rollRAW;

  Serial.print("Gx:");
  Serial.print(Gx);
  Serial.print(',');
  Serial.print("Gy:");
  Serial.print(Gy);
  Serial.print(',');
  Serial.print("Gz:");
  Serial.print(Gz);
  Serial.print(',');
  Serial.print("UL:");
  Serial.print(5);
  Serial.print(',');
  Serial.print("LL:");
  Serial.println(-5);

  //   Serial.print("Ax:");
  //   Serial.print(Ax);
  //   Serial.print(',');
  //   Serial.print("Ay:");
  //   Serial.print(Ay);
  //   Serial.print(',');
  //     Serial.print("Az:");
  //   Serial.print(Az);
  //   Serial.print(',');
  //  Serial.print("UL:");
  //  Serial.print(1);
  //  Serial.print(',');
  //  Serial.print("LL:");
  //  Serial.println(-1);
  delay(10);
}

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#include <Adafruit_MPU6050.h>

#include <Adafruit_Sensor.h>

#include <Wire.h>

float Ax;

float Ay;

float Az;

float Gx;

float Gy;

float Gz;

// If You want Calibrated results, you must rotate

// your board to all possible orientations, and

// record your velues of xMax, xMin, yMax, yMin

// zMax, zMin. I show you how to do that in LESSON

// 79 on my youtube channel. Put in your values and then

// uncomment the code below. Don't use my values, you have

// to measure your own for it to work.

// float xMax= 1.03;

// float xMin= -.97;

// float yMax= .98;

// float yMin= -1.01;

// float zMax=.96 ;

// float zMin= -1.08;

// float xOffset = (xMax+xMin)/2;

// float yOffset = (yMax+yMin)/2;

// float zOffset = (zMax+zMin)/2;

// float xScale = 2/(xMax -xMin);

// float yScale = 2/(yMax - yMin);

// float zScale = 2/(zMax -zMin);

float roll = 0;

float pitch = 0;

float rollRAW;

float pitchRAW;

Adafruit_MPU6050 mpu;

void setup() {

// put your setup code here, to run once:

Serial.begin(115200);

mpu.begin();

Serial.println("MPU6050 Started!");

mpu.setAccelerometerRange(MPU6050_RANGE_2_G);

mpu.setGyroRange(MPU6050_RANGE_250_DEG);

mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);

}

void loop() {

// put your main code here, to run repeatedly:

sensors_event_t a, g, temp;

mpu.getEvent(&a, &g, &temp);

Ax = a.acceleration.x / 9.81;

Ay = a.acceleration.y / 9.81;

Az = a.acceleration.z / 9.81;

Gx = g.gyro.x;

Gy = g.gyro.y;

Gz = g.gyro.z;

//Uncomment these lines of code to do the callibration

//This will only work if you have measured your max

//and min values, and put them in at the top of the code

// Ax = xScale*(Ax-xOffset);

// Ay = yScale*(Ay-yOffset);

// Az = zScale*(Az-zOffset);

pitchRAW = atan2(Ay, sqrt(Az * Az + Ax * Ax)) * 360 / (2 * 3.14);

rollRAW = atan2(Ax, sqrt(Az * Az + Ay * Ay)) * 360 / (2 * 3.14);

pitch = .75 * pitch + .25 * pitchRAW;

roll = .75 * roll + .25 * rollRAW;

Serial.print("Gx:");

Serial.print(Gx);

Serial.print(',');

Serial.print("Gy:");

Serial.print(Gy);

Serial.print(',');

Serial.print("Gz:");

Serial.print(Gz);

Serial.print(',');

Serial.print("UL:");

Serial.print(5);

Serial.print(',');

Serial.print("LL:");

Serial.println(-5);

// Serial.print("Ax:");

// Serial.print(Ax);

// Serial.print(',');

// Serial.print("Ay:");

// Serial.print(Ay);

// Serial.print(',');

// Serial.print("Az:");

// Serial.print(Az);

// Serial.print(',');

// Serial.print("UL:");

// Serial.print(1);

// Serial.print(',');

// Serial.print("LL:");

// Serial.println(-1);

delay(10);

}

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Making The World a Better Place One High Tech Project at a Time. Enjoy!