Tks lauszus,
I tried, but I got no good result. Also try the complementary filter (even values ??ranging from 0.98 to 0.02 and 0.02 to 0.98 in a formula). The result is always the same. Works fine on the ground, if the imu is static, but when starts to fly, the imu does not mark well.
I have purchased a mpu 6050to see if I had better results with the updated code and the first test with the kalman has not gone well. I think I have a lot of vibration. I'll try to isolate the 6050 and I'll try again.
its correct this code to change the gyro and acc range to 2000 deg/s and +-8g ?
i2cData[0] = 7; // Set the sample rate to 1000Hz - 8kHz/(7+1) = 1000Hz
i2cData[1] = 0x00; // Disable FSYNC and set 260 Hz Acc filtering, 256 Hz Gyro filtering, 8 KHz sampling
i2cData[2] = 0x03; // Set Gyro Full Scale Range to ±2000deg/s
i2cData[3] = 0x02; // Set Accelerometer Full Scale Range to ±8g