Tag Archives: Gyros

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

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);

}

Arduino, Arduino 9-Axis IMU Totorials

9-Axis IMU LESSON 8: Using Gyros for Measuring Rotational Velocity and Angle

October 3, 2019 admin

In this lesson we explore approximating the roll and pitch of our sensor using only the gyros. The advantage of gyros is that they are not susceptible to vibration as much as the acceleromters. In the video we show you how you can simply approximate roll and pitch from the data coming from the gyroscopes. Note that while the gyros do not have the noise problem seen in the accelerometers, we now have a new problem that the gyros are susceptible to long term drift. As you play with these devices what you end up seeing is you will need to combine the data from the accelerometers and the gyros in a clever way to take advantage of the long term stability of the accelerometers and the noise immunity of they gyros. In effect, you will want to apply a high pass filter to the gyro data, and a low pass filter to the acceleromters.

To follow along at home, you will need an Arduino Nano, and an Adafruit BNO055 Inertial Measurement Sensor. We suggest using identical hardware if you want to follow along as different sensors have very different characteristics, and things will work much better for you if we are using the same sensor

This is the code which we developed in the video to demonstrate these concepts.

The code below is for demo purposes only, and should not be used in any real applications. It just demonstrates how to work with this sensor in benchtop presentations.

#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BNO055.h>
#include <utility/imumaths.h>
#include <math.h>
float thetaM;
float phiM;
float thetaFold=0;
float thetaFnew;
float phiFold=0;
float phiFnew;

float thetaG=0;
float phiG=0;

float dt;
unsigned long millisOld;

#define BNO055_SAMPLERATE_DELAY_MS (100)

Adafruit_BNO055 myIMU = Adafruit_BNO055();

void setup() {
  // put your setup code here, to run once:
Serial.begin(115200);
myIMU.begin();
delay(1000);
int8_t temp=myIMU.getTemp();
myIMU.setExtCrystalUse(true);
millisOld=millis();
}

void loop() {
  // put your main code here, to run repeatedly:
uint8_t system, gyro, accel, mg = 0;
myIMU.getCalibration(&system, &gyro, &accel, &mg);
imu::Vector<3> acc =myIMU.getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER);
imu::Vector<3> gyr =myIMU.getVector(Adafruit_BNO055::VECTOR_GYROSCOPE);

thetaM=-atan2(acc.x()/9.8,acc.z()/9.8)/2/3.141592654*360;
phiM=-atan2(acc.y()/9.8,acc.z()/9.8)/2/3.141592654*360;
phiFnew=.95*phiFold+.05*phiM;
thetaFnew=.95*thetaFold+.05*thetaM;

dt=(millis()-millisOld)/1000.;
millisOld=millis();

thetaG=thetaG+gyr.y()*dt;
phiG=phiG-gyr.x()*dt;

Serial.print(acc.x()/9.8);
Serial.print(",");
Serial.print(acc.y()/9.8);
Serial.print(",");
Serial.print(acc.z()/9.8);
Serial.print(",");
Serial.print(accel);
Serial.print(",");
Serial.print(gyro);
Serial.print(",");
Serial.print(mg);
Serial.print(",");
Serial.print(system);
Serial.print(",");
Serial.print(thetaM);
Serial.print(",");
Serial.print(phiM);
Serial.print(",");
Serial.print(thetaFnew);
Serial.print(",");
Serial.print(phiFnew);

Serial.print(",");
Serial.print(thetaG);
Serial.print(",");
Serial.println(phiG);

phiFold=phiFnew;
thetaFold=thetaFnew;

 
delay(BNO055_SAMPLERATE_DELAY_MS);
}

#include <Wire.h>

#include <Adafruit_Sensor.h>

#include <Adafruit_BNO055.h>

#include <utility/imumaths.h>

#include <math.h>

float thetaM;

float phiM;

float thetaFold=0;

float thetaFnew;

float phiFold=0;

float phiFnew;

float thetaG=0;

float phiG=0;

float dt;

unsigned long millisOld;

#define BNO055_SAMPLERATE_DELAY_MS (100)

Adafruit_BNO055 myIMU = Adafruit_BNO055();

void setup() {

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

Serial.begin(115200);

myIMU.begin();

delay(1000);

int8_t temp=myIMU.getTemp();

myIMU.setExtCrystalUse(true);

millisOld=millis();

}

void loop() {

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

uint8_t system, gyro, accel, mg = 0;

myIMU.getCalibration(&system, &gyro, &accel, &mg);

imu::Vector<3> acc =myIMU.getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER);

imu::Vector<3> gyr =myIMU.getVector(Adafruit_BNO055::VECTOR_GYROSCOPE);

thetaM=-atan2(acc.x()/9.8,acc.z()/9.8)/2/3.141592654*360;

phiM=-atan2(acc.y()/9.8,acc.z()/9.8)/2/3.141592654*360;

phiFnew=.95*phiFold+.05*phiM;

thetaFnew=.95*thetaFold+.05*thetaM;

dt=(millis()-millisOld)/1000.;

millisOld=millis();

thetaG=thetaG+gyr.y()*dt;

phiG=phiG-gyr.x()*dt;

Serial.print(acc.x()/9.8);

Serial.print(",");

Serial.print(acc.y()/9.8);

Serial.print(",");

Serial.print(acc.z()/9.8);

Serial.print(",");

Serial.print(accel);

Serial.print(",");

Serial.print(gyro);

Serial.print(",");

Serial.print(mg);

Serial.print(",");

Serial.print(system);

Serial.print(",");

Serial.print(thetaM);

Serial.print(",");

Serial.print(phiM);

Serial.print(",");

Serial.print(thetaFnew);

Serial.print(",");

Serial.print(phiFnew);

Serial.print(",");

Serial.print(thetaG);

Serial.print(",");

Serial.println(phiG);

phiFold=phiFnew;

thetaFold=thetaFnew;

delay(BNO055_SAMPLERATE_DELAY_MS);

}

Technology Tutorials

Tag Archives: Gyros

Reducing Gyro Drift in MPU6050 IMU Arduino Project

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

Using Arduino and MPU6050 to Measure Rotational Velocity with the Gyros

9-Axis IMU LESSON 8: Using Gyros for Measuring Rotational Velocity and Angle

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