I have an MPU9250 sensor and I have the following values I read from it:
acceleration x,y,z and g values x,y,z.
This is a pretty basic question but I would really love some pointers on the subject (hopefully they are not 30 minute long youtube videos) :
These values seem to be effected when I simply tilt the sensor without it moving.
is there a library which enables me to get the pure value of an acceleration adjusted with the tilt? the adjusted acceleration need to be zero when the sensor is just tilted and not moving, however positive or negative if its moving and Accelaration.
You're changing the gravity vector by tilting
(You can't tilt something without moving it)
I guess I was expecting a library which calcultes and counts in this tilt across vectors and gives me the pure acceleration value but I might be spoiled.
MPU6050_6Axis_MotionApps20 library uses the MPU6050's internal Kalman filter to provide "orientation-in-space" information as the device is moved around. I used this in a project to keep a camera platform level as the base moves around.
I haven't looked at the MPU9250, but I would assume that something similar exists.
It is possible to subtract the acceleration due to gravity from the total measured acceleration, if you know the precise orientation of the sensor. With consumer grade sensors that doesn't work well.
See Using Accelerometers to Estimate Position and Velocity | CH Robotics
The nice thing about the 6050 is that it does all this for you internally.
do you have any library suggestions for 6050?
I used MPU6050_6Axis_MotionApps20 but there might be a newer version available.