Tag Archives: MPU6050

Add an MPU6050 Accelerometer to your Arduino Project

July 10, 2025 admin

In this video lesson we will show you how to incorporate accelerometers into your Arduino projects. Your Sunfounder kit includes the GY-87 IMU module. This module contains a BMP180 pressure sensor, which we have already used in earlier lessons, and an MPU6050 6 axis IMU. The MPU6050 includes 3 accelerometers and 3 gyros. In today’s lesson, we learn how to use the MPU6050 accelerometers. I will explain how these MEMS bases accelerometers work, and how we can use them in our project.

This is the schematic we use in todays lesson.

Schematic for connecting the GY-87 module to the Arduino

For your convenience, the code developed in the lesson is presented below:

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

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.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;

  Serial.print(Ax);
  Serial.print(',');
  Serial.println(Ay);

  delay(50);

}

#include <Adafruit_MPU6050.h>

#include <Adafruit_Sensor.h>

#include <Wire.h>

float Ax;

float Ay;

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.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;

Serial.print(Ax);

Serial.print(',');

Serial.println(Ay);

delay(50);

}

MicroPython, Raspberry Pi Pico

Remove Long Term Steady State Errors from MPU6050 Tilt Measurements

January 2, 2024 admin

In this video lesson I show you how to remove long term steady state error from the tilt values calculated from the MPU6050 IMU. We are using the following schematic for our prototype.

For your convenience, this is the code we developed in the video.

from imu import MPU6050
from machine import I2C,Pin
import math
import time
 
i2c=I2C(0, sda=Pin(16), scl=Pin(17), freq=400000)
mpu = MPU6050(i2c)
 
rollG=0
pitchG=0

rollComp=0
pitchComp=0

errorR=0
errorP=0

yaw=0
tLoop=0
cnt=0
 
while True:
    tStart=time.ticks_ms()
    
    xGyro=mpu.gyro.x
    yGyro=-mpu.gyro.y
    zGyro=mpu.gyro.z
    
    xAccel=mpu.accel.x
    yAccel=mpu.accel.y
    zAccel=mpu.accel.z
    
    rollG=rollG+yGyro*tLoop
    pitchG=pitchG+xGyro*tLoop
    
    rollA=math.atan(xAccel/zAccel)/2/math.pi*360
    pitchA=math.atan(yAccel/zAccel)/2/math.pi*360
    
    rollComp= rollA*.005 + .995*(rollComp+yGyro*tLoop)+errorR*.005
    pitchComp= pitchA*.005 + .995*(pitchComp+xGyro*tLoop)+errorP*.005
    
    errorP=errorP + (pitchA-pitchComp)*tLoop
    errorR=errorR + (rollA-rollComp)*tLoop
    
    cnt=cnt+1
    if cnt==10:
        cnt=0
        print('RA: ',rollA,'PA: ',pitchA,'RC: ',rollComp,'PC: ',pitchComp)
        #print('RA: ',rollA,'RC: ',rollComp)
    tStop=time.ticks_ms()
    tLoop=(tStop-tStart)*.001

from imu import MPU6050

from machine import I2C,Pin

import math

import time

i2c=I2C(0, sda=Pin(16), scl=Pin(17), freq=400000)

mpu = MPU6050(i2c)

rollG=0

pitchG=0

rollComp=0

pitchComp=0

errorR=0

errorP=0

yaw=0

tLoop=0

cnt=0

while True:

tStart=time.ticks_ms()

xGyro=mpu.gyro.x

yGyro=-mpu.gyro.y

zGyro=mpu.gyro.z

xAccel=mpu.accel.x

yAccel=mpu.accel.y

zAccel=mpu.accel.z

rollG=rollG+yGyro*tLoop

pitchG=pitchG+xGyro*tLoop

rollA=math.atan(xAccel/zAccel)/2/math.pi*360

pitchA=math.atan(yAccel/zAccel)/2/math.pi*360

rollComp= rollA*.005 + .995*(rollComp+yGyro*tLoop)+errorR*.005

pitchComp= pitchA*.005 + .995*(pitchComp+xGyro*tLoop)+errorP*.005

errorP=errorP + (pitchA-pitchComp)*tLoop

errorR=errorR + (rollA-rollComp)*tLoop

cnt=cnt+1

if cnt==10:

cnt=0

print('RA: ',rollA,'PA: ',pitchA,'RC: ',rollComp,'PC: ',pitchComp)

#print('RA: ',rollA,'RC: ',rollComp)

tStop=time.ticks_ms()

tLoop=(tStop-tStart)*.001

MicroPython, Raspberry Pi Pico

Improving Accuracy of MPU6050 Data Using a Complimentary Filter

December 26, 2023 admin

In this video lesson we show how to create a complimentary filter such we get pitch and roll data from the MPU6050 which is quick and responsive, accurate, and low noise. We are using the following schematic:

This is the code we developed in the video.

from imu import MPU6050
from machine import I2C,Pin
import math
import time
 
i2c=I2C(0, sda=Pin(16), scl=Pin(17), freq=400000)
mpu = MPU6050(i2c)
 
rollG=0
pitchG=0

rollComp=0
pitchComp=0

yaw=0
tLoop=0
cnt=0
 
while True:
    tStart=time.ticks_ms()
    
    xGyro=mpu.gyro.x
    yGyro=-mpu.gyro.y
    zGyro=mpu.gyro.z
    
    xAccel=mpu.accel.x
    yAccel=mpu.accel.y
    zAccel=mpu.accel.z
    
    rollG=rollG+yGyro*tLoop
    pitchG=pitchG+xGyro*tLoop
    
    rollA=math.atan(xAccel/zAccel)/2/math.pi*360
    pitchA=math.atan(yAccel/zAccel)/2/math.pi*360
    
    rollComp= rollA*.005 + .995*(rollComp+yGyro*tLoop)
    pitchComp= pitchA*.005 + .995*(pitchComp+xGyro*tLoop)
    
    cnt=cnt+1
    if cnt==10:
        cnt=0
        print('RA: ',rollA,'PA: ',pitchA,'RC: ',rollComp,'PC: ',pitchComp)
    tStop=time.ticks_ms()
    tLoop=(tStop-tStart)*.001

from imu import MPU6050

from machine import I2C,Pin

import math

import time

i2c=I2C(0, sda=Pin(16), scl=Pin(17), freq=400000)

mpu = MPU6050(i2c)

rollG=0

pitchG=0

rollComp=0

pitchComp=0

yaw=0

tLoop=0

cnt=0

while True:

tStart=time.ticks_ms()

xGyro=mpu.gyro.x

yGyro=-mpu.gyro.y

zGyro=mpu.gyro.z

xAccel=mpu.accel.x

yAccel=mpu.accel.y

zAccel=mpu.accel.z

rollG=rollG+yGyro*tLoop

pitchG=pitchG+xGyro*tLoop

rollA=math.atan(xAccel/zAccel)/2/math.pi*360

pitchA=math.atan(yAccel/zAccel)/2/math.pi*360

rollComp= rollA*.005 + .995*(rollComp+yGyro*tLoop)

pitchComp= pitchA*.005 + .995*(pitchComp+xGyro*tLoop)

cnt=cnt+1

if cnt==10:

cnt=0

print('RA: ',rollA,'PA: ',pitchA,'RC: ',rollComp,'PC: ',pitchComp)

tStop=time.ticks_ms()

tLoop=(tStop-tStart)*.001

MicroPython, Raspberry Pi Pico

Measuring Roll, Pitch, and Yaw Using 3-Axis Gyro on the MPU6050

December 19, 2023 admin

In this video lesson we describe how to measure roll, pitch, and yaw using the MPU6050. We describe the issues associated with drift in these gyros and will propose a path forward in dealing with the drift issue.

We are using the following circuit for this project:

And this is the code we develop in today’s lesson.

from imu import MPU6050
from machine import I2C,Pin
import math
import time
 
i2c=I2C(0, sda=Pin(16), scl=Pin(17), freq=400000)
mpu = MPU6050(i2c)
 
roll=0
pitch=0
yaw=0
tLoop=0
cnt=0
 
while True:
    tStart=time.ticks_ms()
    xGyro=mpu.gyro.x
    yGyro=mpu.gyro.y
    zGyro=mpu.gyro.z
    roll=roll+yGyro*tLoop
    pitch=pitch+xGyro*tLoop
    yaw=yaw+zGyro*tLoop
    cnt=cnt+1
    if cnt==10:
        cnt=0
        print('R: ',roll,'P: ',pitch,'Y: ',yaw)
    tStop=time.ticks_ms()
    tLoop=(tStop-tStart)*.001

from imu import MPU6050

from machine import I2C,Pin

import math

import time

i2c=I2C(0, sda=Pin(16), scl=Pin(17), freq=400000)

mpu = MPU6050(i2c)

roll=0

pitch=0

yaw=0

tLoop=0

cnt=0

while True:

tStart=time.ticks_ms()

xGyro=mpu.gyro.x

yGyro=mpu.gyro.y

zGyro=mpu.gyro.z

roll=roll+yGyro*tLoop

pitch=pitch+xGyro*tLoop

yaw=yaw+zGyro*tLoop

cnt=cnt+1

if cnt==10:

cnt=0

print('R: ',roll,'P: ',pitch,'Y: ',yaw)

tStop=time.ticks_ms()

tLoop=(tStop-tStart)*.001

MicroPython, Raspberry Pi Pico

Two Axis Tilt Meter Displaying Pitch and Roll Using an MPU6050 on the Raspberry Pi Pico W

December 5, 2023 admin

In this video lesson, we demonstrate how to create a two-axis tilt meter. The device displays both the pitch and roll on an OLED. In addition to this quantitative display of tilt and roll, it also shows a carpenter’s level type visual, where a circle, or bubble moves to indicate tilt. When the circle is centered on the crosshairs, the device is flat in both axis.

For your convenience, this is the schematic we are using:

And we also include the code we developed in this lesson.

from imu import MPU6050
from machine import I2C,Pin
import math
import time
from ssd1306 import SSD1306_I2C

def circle(radius,xOff,yOff):
    xCenter=64
    yCenter=45
    for deg in range(0,360):
        rads=deg/360*2*math.pi
        x=radius*math.cos(rads)
        y=radius*math.sin(rads)
        dsp.pixel(int(x+xCenter-xOff),int(y+yCenter-yOff),1)

i2c=I2C(0, sda=Pin(16), scl=Pin(17), freq=400000)
mpu = MPU6050(i2c)

i2c2=I2C(1,sda=Pin(2), scl=Pin(3), freq=400000)
dsp=SSD1306_I2C(128,64,i2c2)
dsp.fill(0)

while True:
    xAccel=mpu.accel.x
    yAccel=mpu.accel.y
    zAccel=mpu.accel.z
    
    pitch=math.atan(yAccel/zAccel)
    roll=math.atan(xAccel/zAccel)
    pitchDeg=pitch/(2*math.pi)*360
    rollDeg=roll/(2*math.pi)*360
    #print('pitch: ',pitchDeg, 'roll: ',rollDeg)
    dsp.text('Tiltomatic',0,0)
    msg='P: '+str(round(pitchDeg,1))+' R: '+str(round(rollDeg,1))
    dsp.text(msg,0,16)
    dsp.rect(0,26,128,38,1)
    dsp.hline(0,45,128,1)
    dsp.vline(64,26,38,1)
    print(pitchDeg,rollDeg)
    circle(7,int(2.5*pitchDeg),int(rollDeg))
    dsp.show()
    dsp.fill(0)
    time.sleep(.1)

from imu import MPU6050

from machine import I2C,Pin

import math

import time

from ssd1306 import SSD1306_I2C

def circle(radius,xOff,yOff):

xCenter=64

yCenter=45

for deg in range(0,360):

rads=deg/360*2*math.pi

x=radius*math.cos(rads)

y=radius*math.sin(rads)

dsp.pixel(int(x+xCenter-xOff),int(y+yCenter-yOff),1)

i2c=I2C(0, sda=Pin(16), scl=Pin(17), freq=400000)

mpu = MPU6050(i2c)

i2c2=I2C(1,sda=Pin(2), scl=Pin(3), freq=400000)

dsp=SSD1306_I2C(128,64,i2c2)

dsp.fill(0)

while True:

xAccel=mpu.accel.x

yAccel=mpu.accel.y

zAccel=mpu.accel.z

pitch=math.atan(yAccel/zAccel)

roll=math.atan(xAccel/zAccel)

pitchDeg=pitch/(2*math.pi)*360

rollDeg=roll/(2*math.pi)*360

#print('pitch: ',pitchDeg, 'roll: ',rollDeg)

dsp.text('Tiltomatic',0,0)

msg='P: '+str(round(pitchDeg,1))+' R: '+str(round(rollDeg,1))

dsp.text(msg,0,16)

dsp.rect(0,26,128,38,1)

dsp.hline(0,45,128,1)

dsp.vline(64,26,38,1)

print(pitchDeg,rollDeg)

circle(7,int(2.5*pitchDeg),int(rollDeg))

dsp.show()

dsp.fill(0)

time.sleep(.1)

Technology Tutorials

Tag Archives: MPU6050

Add an MPU6050 Accelerometer to your Arduino Project

Remove Long Term Steady State Errors from MPU6050 Tilt Measurements

Improving Accuracy of MPU6050 Data Using a Complimentary Filter

Measuring Roll, Pitch, and Yaw Using 3-Axis Gyro on the MPU6050

Two Axis Tilt Meter Displaying Pitch and Roll Using an MPU6050 on the Raspberry Pi Pico W

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