Help me on project MPU9250 using Kalman Filter

[sarbelinds]

hi, sorry my english is not good. I want to make a project MPU9250 using Kalman filter. I am using arduino nano for the microcontroller. I used the code from Kristian Lauszus, TKJ Electronics for MPU6050 KalmanFilter/MPU6050.ino at master · TKJElectronics/KalmanFilter · GitHub then I changed it for MPU9250. I want to ask about a lot of errors that I found in my code using the Arduino IDE when I tried to convert it for the MPU9250.

I am a beginner in coding like this. This is the code I made with the reference above.

#include <Kalman.h>
#include <MPU9250.h>

#define RESTRICT_PITCH
 
float kalmanX; // Create the Kalman instances
float kalmanY;
float kalmanZ;


/* IMU Data */
double accX, accY, accZ;
double gyroX, gyroY, gyroZ;
double magX, magY, magZ;
int16_t tempRaw;

double gyroXangle, gyroYangle, gyroZangle; // Angle calculate using the gyro only
double kalAngleX, kalAngleY, kalAngleZ; // Calculated angle using a Kalman filter

double roll;
double pitch;
double yaw;

double i2cData;
double i2cRead;
double setAngle;
double getAngle;

uint32_t timer;
uint8_t i2cData[14]; // Buffer for I2C data

// TODO: Make calibration routine

MPU9250 mpu;

void setup() {
  Serial.begin(115200);
  Wire.begin();
  TWBR = ((F_CPU / 400000L) - 16) / 2; // Set I2C frequency to 400kHz


  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] = 0x00; // Set Gyro Full Scale Range to ±250deg/s
  i2cData[3] = 0x00; // Set Accelerometer Full Scale Range to ±2g
  while (i2cData(0x19, i2cData, 4, false)); // Write to all four registers at once
  while (i2cData(0x6B, 0x01, true)); // PLL with X axis gyroscope reference and disable sleep mode


  while (i2cRead(0x75, i2cData, 1));
  if (i2cData[0] != 0x68) { // Read "WHO_AM_I" register
    Serial.print(F("Error reading sensor"));
    while (1);
  }

  delay(100); // Wait for sensor to stabilize

  /* Set kalman and gyro starting angle */
  while (i2cRead(0x3B, i2cData, 6));
  accX = (i2cData[0] << 8);
  accY = (i2cData[2] << 8);
  accZ = (i2cData[4] << 8);

  // Source: http://www.freescale.com/files/sensors/doc/app_note/AN3461.pdf eq. 25 and eq. 26
  // atan2 outputs the value of -π to π (radians) - see http://en.wikipedia.org/wiki/Atan2
  // It is then converted from radians to degrees

  double roll  = atan2(accY, accZ);
  double pitch = atan2((accX),((accY*sin(roll)) + accZ*cos(roll))); 
  double yaw = atan2( (magZ*sin(roll)-magY*cos(roll)) , ((magX*cos(pitch))+(magY*sin(pitch)*sin(roll))+magZ*sin(pitch)*cos(roll)) );


  kalmanX.setAngle(roll); // Set starting angle
  kalmanY.setAngle(pitch);
  kalmanZ.setAngle(yaw);
  gyroXangle = roll;
  gyroYangle = pitch;
  gyroZangle = yaw;
  compAngleX = roll;
  compAngleY = pitch;
  compAngleZ = yaw;

  timer = micros();
}

void loop() {
  while (i2cRead(0x3B, i2cData, 14));
  accX = ((i2cData[0] << 8) | i2cData[1]);
  accY = ((i2cData[2] << 8) | i2cData[3]);
  accZ = ((i2cData[4] << 8) | i2cData[5]);
  tempRaw = (i2cData[6] << 8) | i2cData[7];
  gyroX = (i2cData[8] << 8) | i2cData[9];
  gyroY = (i2cData[10] << 8) | i2cData[11];
  gyroZ = (i2cData[12] << 8) | i2cData[13];
  tempRaw = (i2cData[14] << 8) | i2cData[15];
  magX = (i2cData[16] << 8) | i2cData[17];
  magY = (i2cData[18] << 8) | i2cData[19];
  magZ = (i2cData[20] << 8) | i2cData[21];
  

  double dt = (double)(micros() - timer) / 1000000; // Calculate delta time
  timer = micros();

  // Source: http://www.freescale.com/files/sensors/doc/app_note/AN3461.pdf eq. 25 and eq. 26
  // atan2 outputs the value of -π to π (radians) - see http://en.wikipedia.org/wiki/Atan2
  // It is then converted from radians to degrees

  double roll  = atan2(accY, accZ);
  double pitch = atan2((accX),((accY*sin(roll)) + accZ*cos(roll))); 
  double yaw = atan2( (magZ*sin(roll)-magY*cos(roll)) , ((magX*cos(pitch))+(magY*sin(pitch)*sin(roll))+magZ*sin(pitch)*cos(roll)) );
  
  double gyroXrate = gyroX / 131.0; // Convert to deg/s
  double gyroYrate = gyroY / 131.0; // Convert to deg/s
  double gyroZrate = gyroZ / 131.0; // Convert to deg/s

#ifdef RESTRICT_PITCH
  // This fixes the transition problem when the accelerometer angle jumps between -180 and 180 degrees
  if ((roll < -90 && kalAngleX > 90) || (roll > 90 && kalAngleX < -90)) {
    kalmanX.setAngle(roll);
    kalAngleX = roll;
    gyroXangle = roll;
  } else
    kalAngleX = kalmanX.getAngle(roll, gyroXrate, dt); // Calculate the angle using a Kalman filter

  if (abs(kalAngleX) > 90)
    gyroYrate = -gyroYrate; // Invert rate, so it fits the restriced accelerometer reading
  kalAngleY = kalmanY.getAngle(pitch, gyroYrate, dt);
  
else
  // This fixes the transition problem when the accelerometer angle jumps between -180 and 180 degrees
  if ((pitch < -90 && kalAngleY > 90) || (pitch > 90 && kalAngleY < -90)) {
    kalmanY.setAngle(pitch);
    kalAngleY = pitch;
    gyroYangle = pitch;
  } else
    kalAngleY = kalmanY.getAngle(pitch, gyroYrate, dt); // Calculate the angle using a Kalman filter

  if (abs(kalAngleY) > 90)
    gyroXrate = -gyroXrate; // Invert rate, so it fits the restriced accelerometer reading
  kalAngleX = kalmanX.getAngle(roll, gyroXrate, dt); // Calculate the angle using a Kalman filter

else
  // This fixes the transition problem when the accelerometer angle jumps between -180 and 180 degrees
  if ((pitch < -90 && kalAngleY > 90) || (pitch > 90 && kalAngleY < -90)) {
    kalmanZ.setAngle(yaw);
    kalAngleZ  = yaw;
    gyroZangle = yaw;
  } else
    kalAngleZ = kalmanZ.getAngle(yaw, gyroZrate, dt); // Calculate the angle using a Kalman filter

  if (abs(kalAngleZ) > 90)
    gyroZrate = -gyroZrate; // Invert rate, so it fits the restriced accelerometer reading
  kalAngleZ = kalmanZ.getAngle(roll, gyroZrate, dt); // Calculate the angle using a Kalman filter
#endif

  gyroXangle += gyroXrate * dt; // Calculate gyro angle without any filter
  gyroYangle += gyroYrate * dt;
  gyroZangle += gyroZrate * dt;
  //gyroXangle += kalmanX.getRate() * dt; // Calculate gyro angle using the unbiased rate
  //gyroYangle += kalmanY.getRate() * dt;
  //gyroZangle += kalmanZ.getRate() * dt;
 

  compAngleX = 0.93 * (compAngleX + gyroXrate * dt) + 0.07 * roll; // Calculate the angle using a Complimentary filter
  compAngleY = 0.93 * (compAngleY + gyroYrate * dt) + 0.07 * pitch;
  compAngleZ = 0.93 * (compAngleZ + gyroZrate * dt) + 0.07 * yaw;
 

  // Reset the gyro angle when it has drifted too much
  if (gyroXangle < -180 || gyroXangle > 180)
    gyroXangle = kalAngleX;
  if (gyroYangle < -180 || gyroYangle > 180)
    gyroYangle = kalAngleY;
  if (gyroZangle < -180 || gyroZangle > 180)
    gyroZangle = kalAngleZ;

  /* Print Data */
#if 0 // Set to 1 to activate
  Serial.print(accX); Serial.print("\t");
  Serial.print(accY); Serial.print("\t");
  Serial.print(accZ); Serial.print("\t");

  Serial.print(gyroX); Serial.print("\t");
  Serial.print(gyroY); Serial.print("\t");
  Serial.print(gyroZ); Serial.print("\t");

  Serial.print(magX); Serial.print("\t");
  Serial.print(magY); Serial.print("\t");
  Serial.print(magZ); Serial.print("\t");

  Serial.print("\t");
#endif

  Serial.print(roll); Serial.print("\t");
  Serial.print(gyroXangle); Serial.print("\t");
  Serial.print(kalAngleX); Serial.print("\t");

  Serial.print("\t");

  Serial.print(pitch); Serial.print("\t");
  Serial.print(gyroYangle); Serial.print("\t");
  Serial.print(kalAngleY); Serial.print("\t");

  Serial.print("\t");

  Serial.print(yaw); Serial.print("\t");
  Serial.print(gyroZangle); Serial.print("\t");
  Serial.print(kalAngleZ); Serial.print("\t");

#if 0 // Set to 1 to print the temperature
  Serial.print("\t");

  double temperature = (double)tempRaw / 340.0 + 36.53;
  Serial.print(temperature); Serial.print("\t");
#endif

  Serial.print("\r\n");
  delay(2);
}

many thanks guys

[Idahowalker]

Images of error messages suck.

Include the entire error message. It is easy to do. There is a button (lower right of the IDE window) called "copy error message". Copy the error and paste into a post in code tags. Paraphrasing the error message leaves out important information.

Post a schematic.

Post an image of your project.

Which Micro Controller are you using?

Is this simulator code?

Please describe the problem better then you just did.

[sarbelinds]

This is the error message from the Arduino IDE that I got:

Arduino: 1.8.19 (Windows 10), Board: "Arduino Nano, ATmega328P (Old Bootloader)"
C:\Program Files (x86)\Arduino\arduino-builder -dump-prefs -logger=machine -hardware C:\Program Files (x86)\Arduino\hardware -hardware C:\Users\USER\AppData\Local\Arduino15\packages -tools C:\Program Files (x86)\Arduino\tools-builder -tools C:\Program Files (x86)\Arduino\hardware\tools\avr -tools C:\Users\USER\AppData\Local\Arduino15\packages -built-in-libraries C:\Program Files (x86)\Arduino\libraries -libraries C:\Users\USER\Documents\Arduino\libraries -fqbn=arduino:avr:nano:cpu=atmega328old -vid-pid=0403_6001 -ide-version=10819 -build-path C:\Users\USER\AppData\Local\Temp\arduino_build_515392 -warnings=none -build-cache C:\Users\USER\AppData\Local\Temp\arduino_cache_343207 -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.arduinoOTA.path=C:\Users\USER\AppData\Local\Arduino15\packages\arduino\tools\arduinoOTA\1.3.0 -prefs=runtime.tools.arduinoOTA-1.3.0.path=C:\Users\USER\AppData\Local\Arduino15\packages\arduino\tools\arduinoOTA\1.3.0 -prefs=runtime.tools.avr-gcc.path=C:\Users\USER\AppData\Local\Arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7 -prefs=runtime.tools.avr-gcc-7.3.0-atmel3.6.1-arduino7.path=C:\Users\USER\AppData\Local\Arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7 -prefs=runtime.tools.avrdude.path=C:\Users\USER\AppData\Local\Arduino15\packages\arduino\tools\avrdude\6.3.0-arduino17 -prefs=runtime.tools.avrdude-6.3.0-arduino17.path=C:\Users\USER\AppData\Local\Arduino15\packages\arduino\tools\avrdude\6.3.0-arduino17 -verbose D:\Kuliah\SIDANG TA TEPAT WAKTU YOK!\testing_MPU9250_KAALMAN\testing_MPU9250_KAALMAN.ino

C:\Program Files (x86)\Arduino\arduino-builder -compile -logger=machine -hardware C:\Program Files (x86)\Arduino\hardware -hardware C:\Users\USER\AppData\Local\Arduino15\packages -tools C:\Program Files (x86)\Arduino\tools-builder -tools C:\Program Files (x86)\Arduino\hardware\tools\avr -tools C:\Users\USER\AppData\Local\Arduino15\packages -built-in-libraries C:\Program Files (x86)\Arduino\libraries -libraries C:\Users\USER\Documents\Arduino\libraries -fqbn=arduino:avr:nano:cpu=atmega328old -vid-pid=0403_6001 -ide-version=10819 -build-path C:\Users\USER\AppData\Local\Temp\arduino_build_515392 -warnings=none -build-cache C:\Users\USER\AppData\Local\Temp\arduino_cache_343207 -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.arduinoOTA.path=C:\Users\USER\AppData\Local\Arduino15\packages\arduino\tools\arduinoOTA\1.3.0 -prefs=runtime.tools.arduinoOTA-1.3.0.path=C:\Users\USER\AppData\Local\Arduino15\packages\arduino\tools\arduinoOTA\1.3.0 -prefs=runtime.tools.avr-gcc.path=C:\Users\USER\AppData\Local\Arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7 -prefs=runtime.tools.avr-gcc-7.3.0-atmel3.6.1-arduino7.path=C:\Users\USER\AppData\Local\Arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7 -prefs=runtime.tools.avrdude.path=C:\Users\USER\AppData\Local\Arduino15\packages\arduino\tools\avrdude\6.3.0-arduino17 -prefs=runtime.tools.avrdude-6.3.0-arduino17.path=C:\Users\USER\AppData\Local\Arduino15\packages\arduino\tools\avrdude\6.3.0-arduino17 -verbose D:\Kuliah\SIDANG TA TEPAT WAKTU YOK!\testing_MPU9250_KAALMAN\testing_MPU9250_KAALMAN.ino

Using board 'nano' from platform in folder: C:\Users\USER\AppData\Local\Arduino15\packages\arduino\hardware\avr\1.8.6

Using core 'arduino' from platform in folder: C:\Users\USER\AppData\Local\Arduino15\packages\arduino\hardware\avr\1.8.6

Detecting libraries used...

"C:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\avr-gcc\\7.3.0-atmel3.6.1-arduino7/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_NANO -DARDUINO_ARCH_AVR "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\cores\\arduino" "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\variants\\eightanaloginputs" "C:\\Users\\USER\\AppData\\Local\\Temp\\arduino_build_515392\\sketch\\testing_MPU9250_KAALMAN.ino.cpp" -o nul

Alternatives for Kalman.h: [Kalman@1.1.0]

ResolveLibrary(Kalman.h)

  -> candidates: [Kalman@1.1.0]

"C:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\avr-gcc\\7.3.0-atmel3.6.1-arduino7/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_NANO -DARDUINO_ARCH_AVR "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\cores\\arduino" "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\variants\\eightanaloginputs" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\Kalman" "C:\\Users\\USER\\AppData\\Local\\Temp\\arduino_build_515392\\sketch\\testing_MPU9250_KAALMAN.ino.cpp" -o nul

Alternatives for BasicLinearAlgebra.h: [BasicLinearAlgebra@3.6]

ResolveLibrary(BasicLinearAlgebra.h)

  -> candidates: [BasicLinearAlgebra@3.6]

"C:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\avr-gcc\\7.3.0-atmel3.6.1-arduino7/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_NANO -DARDUINO_ARCH_AVR "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\cores\\arduino" "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\variants\\eightanaloginputs" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\Kalman" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\BasicLinearAlgebra" "C:\\Users\\USER\\AppData\\Local\\Temp\\arduino_build_515392\\sketch\\testing_MPU9250_KAALMAN.ino.cpp" -o nul

Alternatives for MPU9250.h: [MPU9250@0.4.8]

ResolveLibrary(MPU9250.h)

  -> candidates: [MPU9250@0.4.8]

"C:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\avr-gcc\\7.3.0-atmel3.6.1-arduino7/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_NANO -DARDUINO_ARCH_AVR "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\cores\\arduino" "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\variants\\eightanaloginputs" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\Kalman" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\BasicLinearAlgebra" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\MPU9250" "C:\\Users\\USER\\AppData\\Local\\Temp\\arduino_build_515392\\sketch\\testing_MPU9250_KAALMAN.ino.cpp" -o nul

Alternatives for Wire.h: [Wire@1.0]

ResolveLibrary(Wire.h)

  -> candidates: [Wire@1.0]

"C:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\avr-gcc\\7.3.0-atmel3.6.1-arduino7/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_NANO -DARDUINO_ARCH_AVR "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\cores\\arduino" "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\variants\\eightanaloginputs" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\Kalman" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\BasicLinearAlgebra" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\MPU9250" "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\libraries\\Wire\\src" "C:\\Users\\USER\\AppData\\Local\\Temp\\arduino_build_515392\\sketch\\testing_MPU9250_KAALMAN.ino.cpp" -o nul

"C:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\avr-gcc\\7.3.0-atmel3.6.1-arduino7/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_NANO -DARDUINO_ARCH_AVR "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\cores\\arduino" "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\variants\\eightanaloginputs" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\Kalman" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\BasicLinearAlgebra" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\MPU9250" "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\libraries\\Wire\\src" "C:\\Users\\USER\\Documents\\Arduino\\libraries\\Kalman\\Kalman.cpp" -o nul

"C:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\avr-gcc\\7.3.0-atmel3.6.1-arduino7/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_NANO -DARDUINO_ARCH_AVR "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\cores\\arduino" "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\variants\\eightanaloginputs" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\Kalman" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\BasicLinearAlgebra" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\MPU9250" "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\libraries\\Wire\\src" "C:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\libraries\\Wire\\src\\Wire.cpp" -o nul

"C:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\avr-gcc\\7.3.0-atmel3.6.1-arduino7/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_NANO -DARDUINO_ARCH_AVR "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\cores\\arduino" "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\variants\\eightanaloginputs" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\Kalman" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\BasicLinearAlgebra" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\MPU9250" "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\libraries\\Wire\\src" "C:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\libraries\\Wire\\src\\utility\\twi.c" -o nul

Generating function prototypes...

"C:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\avr-gcc\\7.3.0-atmel3.6.1-arduino7/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_NANO -DARDUINO_ARCH_AVR "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\cores\\arduino" "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\variants\\eightanaloginputs" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\Kalman" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\BasicLinearAlgebra" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\MPU9250" "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\libraries\\Wire\\src" "C:\\Users\\USER\\AppData\\Local\\Temp\\arduino_build_515392\\sketch\\testing_MPU9250_KAALMAN.ino.cpp" -o "C:\\Users\\USER\\AppData\\Local\\Temp\\arduino_build_515392\\preproc\\ctags_target_for_gcc_minus_e.cpp"

"C:\\Program Files (x86)\\Arduino\\tools-builder\\ctags\\5.8-arduino11/ctags" -u --language-force=c++ -f - --c++-kinds=svpf --fields=KSTtzns --line-directives "C:\\Users\\USER\\AppData\\Local\\Temp\\arduino_build_515392\\preproc\\ctags_target_for_gcc_minus_e.cpp"

Compiling sketch...

"C:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\avr-gcc\\7.3.0-atmel3.6.1-arduino7/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -MMD -flto -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_NANO -DARDUINO_ARCH_AVR "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\cores\\arduino" "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\variants\\eightanaloginputs" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\Kalman" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\BasicLinearAlgebra" "-IC:\\Users\\USER\\Documents\\Arduino\\libraries\\MPU9250" "-IC:\\Users\\USER\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.6\\libraries\\Wire\\src" "C:\\Users\\USER\\AppData\\Local\\Temp\\arduino_build_515392\\sketch\\testing_MPU9250_KAALMAN.ino.cpp" -o "C:\\Users\\USER\\AppData\\Local\\Temp\\arduino_build_515392\\sketch\\testing_MPU9250_KAALMAN.ino.cpp.o"

testing_MPU9250_KAALMAN:48:19: error: conflicting declaration 'uint8_t i2cData [14]'

 uint8_t i2cData[14]; // Buffer for I2C data

                   ^

D:\Kuliah\SIDANG TA TEPAT WAKTU YOK!\testing_MPU9250_KAALMAN\testing_MPU9250_KAALMAN.ino:42:8: note: previous declaration as 'double i2cData'

 double i2cData;

        ^~~~~~~

I2C:37:71: error: 'uint8_t i2cRead(uint8_t, uint8_t*, uint8_t)' redeclared as different kind of symbol

 uint8_t i2cRead(uint8_t registerAddress, uint8_t *data, uint8_t nbytes) {

                                                                       ^

D:\Kuliah\SIDANG TA TEPAT WAKTU YOK!\testing_MPU9250_KAALMAN\testing_MPU9250_KAALMAN.ino:43:8: note: previous declaration 'double i2cRead'

 double i2cRead;

        ^~~~~~~

D:\Kuliah\SIDANG TA TEPAT WAKTU YOK!\testing_MPU9250_KAALMAN\testing_MPU9250_KAALMAN.ino: In function 'void setup()':

testing_MPU9250_KAALMAN:60:12: error: invalid types 'double[int]' for array subscript

   i2cData[0] = 7; // Set the sample rate to 1000Hz - 8kHz/(7+1) = 1000Hz

            ^

testing_MPU9250_KAALMAN:61:12: error: invalid types 'double[int]' for array subscript

   i2cData[1] = 0x00; // Disable FSYNC and set 260 Hz Acc filtering, 256 Hz Gyro filtering, 8 KHz sampling

            ^

testing_MPU9250_KAALMAN:62:12: error: invalid types 'double[int]' for array subscript

   i2cData[2] = 0x00; // Set Gyro Full Scale Range to ±250deg/s

            ^

testing_MPU9250_KAALMAN:63:12: error: invalid types 'double[int]' for array subscript

   i2cData[3] = 0x00; // Set Accelerometer Full Scale Range to ±2g

            ^

testing_MPU9250_KAALMAN:64:41: error: 'i2cData' cannot be used as a function

   while (i2cData(0x19, i2cData, 4, false)); // Write to all four registers at once

                                         ^

testing_MPU9250_KAALMAN:65:34: error: 'i2cData' cannot be used as a function

   while (i2cData(0x6B, 0x01, true)); // PLL with X axis gyroscope reference and disable sleep mode

                                  ^

testing_MPU9250_KAALMAN:68:34: error: 'i2cRead' cannot be used as a function

   while (i2cRead(0x75, i2cData, 1));

                                  ^

testing_MPU9250_KAALMAN:69:16: error: invalid types 'double[int]' for array subscript

   if (i2cData[0] != 0x68) { // Read "WHO_AM_I" register

                ^

testing_MPU9250_KAALMAN:77:34: error: 'i2cRead' cannot be used as a function

   while (i2cRead(0x3B, i2cData, 6));

                                  ^

testing_MPU9250_KAALMAN:78:20: error: invalid types 'double[int]' for array subscript

   accX = (i2cData[0] << 8);

                    ^

testing_MPU9250_KAALMAN:79:20: error: invalid types 'double[int]' for array subscript

   accY = (i2cData[2] << 8);

                    ^

testing_MPU9250_KAALMAN:80:20: error: invalid types 'double[int]' for array subscript

   accZ = (i2cData[4] << 8);

                    ^

testing_MPU9250_KAALMAN:91:11: error: request for member 'setAngle' in 'kalmanX', which is of non-class type 'float'

   kalmanX.setAngle(roll); // Set starting angle

           ^~~~~~~~

testing_MPU9250_KAALMAN:92:11: error: request for member 'setAngle' in 'kalmanY', which is of non-class type 'float'

   kalmanY.setAngle(pitch);

           ^~~~~~~~

testing_MPU9250_KAALMAN:93:11: error: request for member 'setAngle' in 'kalmanZ', which is of non-class type 'float'

   kalmanZ.setAngle(yaw);

           ^~~~~~~~

testing_MPU9250_KAALMAN:97:3: error: 'compAngleX' was not declared in this scope

   compAngleX = roll;

   ^~~~~~~~~~

D:\Kuliah\SIDANG TA TEPAT WAKTU YOK!\testing_MPU9250_KAALMAN\testing_MPU9250_KAALMAN.ino:97:3: note: suggested alternative: 'kalAngleX'

   compAngleX = roll;

   ^~~~~~~~~~

   kalAngleX

testing_MPU9250_KAALMAN:98:3: error: 'compAngleY' was not declared in this scope

   compAngleY = pitch;

   ^~~~~~~~~~

D:\Kuliah\SIDANG TA TEPAT WAKTU YOK!\testing_MPU9250_KAALMAN\testing_MPU9250_KAALMAN.ino:98:3: note: suggested alternative: 'kalAngleY'

   compAngleY = pitch;

   ^~~~~~~~~~

   kalAngleY

testing_MPU9250_KAALMAN:99:3: error: 'compAngleZ' was not declared in this scope

   compAngleZ = yaw;

   ^~~~~~~~~~

D:\Kuliah\SIDANG TA TEPAT WAKTU YOK!\testing_MPU9250_KAALMAN\testing_MPU9250_KAALMAN.ino:99:3: note: suggested alternative: 'kalAngleZ'

   compAngleZ = yaw;

   ^~~~~~~~~~

   kalAngleZ

D:\Kuliah\SIDANG TA TEPAT WAKTU YOK!\testing_MPU9250_KAALMAN\testing_MPU9250_KAALMAN.ino: In function 'void loop()':

testing_MPU9250_KAALMAN:105:35: error: 'i2cRead' cannot be used as a function

   while (i2cRead(0x3B, i2cData, 14));

                                   ^

testing_MPU9250_KAALMAN:106:21: error: invalid types 'double[int]' for array subscript

   accX = ((i2cData[0] << 8) | i2cData[1]);

                     ^

testing_MPU9250_KAALMAN:106:40: error: invalid types 'double[int]' for array subscript

   accX = ((i2cData[0] << 8) | i2cData[1]);

                                        ^

testing_MPU9250_KAALMAN:107:21: error: invalid types 'double[int]' for array subscript

   accY = ((i2cData[2] << 8) | i2cData[3]);

                     ^

testing_MPU9250_KAALMAN:107:40: error: invalid types 'double[int]' for array subscript

   accY = ((i2cData[2] << 8) | i2cData[3]);

                                        ^

testing_MPU9250_KAALMAN:108:21: error: invalid types 'double[int]' for array subscript

   accZ = ((i2cData[4] << 8) | i2cData[5]);

                     ^

testing_MPU9250_KAALMAN:108:40: error: invalid types 'double[int]' for array subscript

   accZ = ((i2cData[4] << 8) | i2cData[5]);

                                        ^

testing_MPU9250_KAALMAN:109:23: error: invalid types 'double[int]' for array subscript

   tempRaw = (i2cData[6] << 8) | i2cData[7];

                       ^

testing_MPU9250_KAALMAN:109:42: error: invalid types 'double[int]' for array subscript

   tempRaw = (i2cData[6] << 8) | i2cData[7];

                                          ^

testing_MPU9250_KAALMAN:110:21: error: invalid types 'double[int]' for array subscript

   gyroX = (i2cData[8] << 8) | i2cData[9];

                     ^

testing_MPU9250_KAALMAN:110:40: error: invalid types 'double[int]' for array subscript

   gyroX = (i2cData[8] << 8) | i2cData[9];

                                        ^

testing_MPU9250_KAALMAN:111:22: error: invalid types 'double[int]' for array subscript

   gyroY = (i2cData[10] << 8) | i2cData[11];

                      ^

testing_MPU9250_KAALMAN:111:42: error: invalid types 'double[int]' for array subscript

   gyroY = (i2cData[10] << 8) | i2cData[11];

                                          ^

testing_MPU9250_KAALMAN:112:22: error: invalid types 'double[int]' for array subscript

   gyroZ = (i2cData[12] << 8) | i2cData[13];

                      ^

testing_MPU9250_KAALMAN:112:42: error: invalid types 'double[int]' for array subscript

   gyroZ = (i2cData[12] << 8) | i2cData[13];

                                          ^

testing_MPU9250_KAALMAN:113:24: error: invalid types 'double[int]' for array subscript

   tempRaw = (i2cData[14] << 8) | i2cData[15];

                        ^

testing_MPU9250_KAALMAN:113:44: error: invalid types 'double[int]' for array subscript

   tempRaw = (i2cData[14] << 8) | i2cData[15];

                                            ^

testing_MPU9250_KAALMAN:114:21: error: invalid types 'double[int]' for array subscript

   magX = (i2cData[16] << 8) | i2cData[17];

                     ^

testing_MPU9250_KAALMAN:114:41: error: invalid types 'double[int]' for array subscript

   magX = (i2cData[16] << 8) | i2cData[17];

                                         ^

testing_MPU9250_KAALMAN:115:21: error: invalid types 'double[int]' for array subscript

   magY = (i2cData[18] << 8) | i2cData[19];

                     ^

testing_MPU9250_KAALMAN:115:41: error: invalid types 'double[int]' for array subscript

   magY = (i2cData[18] << 8) | i2cData[19];

                                         ^

testing_MPU9250_KAALMAN:116:21: error: invalid types 'double[int]' for array subscript

   magZ = (i2cData[20] << 8) | i2cData[21];

                     ^

testing_MPU9250_KAALMAN:116:41: error: invalid types 'double[int]' for array subscript

   magZ = (i2cData[20] << 8) | i2cData[21];

                                         ^

testing_MPU9250_KAALMAN:137:13: error: request for member 'setAngle' in 'kalmanX', which is of non-class type 'float'

     kalmanX.setAngle(roll);

             ^~~~~~~~

testing_MPU9250_KAALMAN:141:25: error: request for member 'getAngle' in 'kalmanX', which is of non-class type 'float'

     kalAngleX = kalmanX.getAngle(roll, gyroXrate, dt); // Calculate the angle using a Kalman filter

                         ^~~~~~~~

testing_MPU9250_KAALMAN:145:23: error: request for member 'getAngle' in 'kalmanY', which is of non-class type 'float'

   kalAngleY = kalmanY.getAngle(pitch, gyroYrate, dt);

                       ^~~~~~~~

testing_MPU9250_KAALMAN:147:1: error: 'else' without a previous 'if'

 else

 ^~~~

testing_MPU9250_KAALMAN:150:13: error: request for member 'setAngle' in 'kalmanY', which is of non-class type 'float'

     kalmanY.setAngle(pitch);

             ^~~~~~~~

testing_MPU9250_KAALMAN:154:25: error: request for member 'getAngle' in 'kalmanY', which is of non-class type 'float'

     kalAngleY = kalmanY.getAngle(pitch, gyroYrate, dt); // Calculate the angle using a Kalman filter

                         ^~~~~~~~

testing_MPU9250_KAALMAN:158:23: error: request for member 'getAngle' in 'kalmanX', which is of non-class type 'float'

   kalAngleX = kalmanX.getAngle(roll, gyroXrate, dt); // Calculate the angle using a Kalman filter

                       ^~~~~~~~

testing_MPU9250_KAALMAN:160:1: error: 'else' without a previous 'if'

 else

 ^~~~

testing_MPU9250_KAALMAN:163:13: error: request for member 'setAngle' in 'kalmanZ', which is of non-class type 'float'

     kalmanZ.setAngle(yaw);

             ^~~~~~~~

testing_MPU9250_KAALMAN:167:25: error: request for member 'getAngle' in 'kalmanZ', which is of non-class type 'float'

     kalAngleZ = kalmanZ.getAngle(yaw, gyroZrate, dt); // Calculate the angle using a Kalman filter

                         ^~~~~~~~

testing_MPU9250_KAALMAN:171:23: error: request for member 'getAngle' in 'kalmanZ', which is of non-class type 'float'

   kalAngleZ = kalmanZ.getAngle(roll, gyroZrate, dt); // Calculate the angle using a Kalman filter

                       ^~~~~~~~

testing_MPU9250_KAALMAN:182:3: error: 'compAngleX' was not declared in this scope

   compAngleX = 0.93 * (compAngleX + gyroXrate * dt) + 0.07 * roll; // Calculate the angle using a Complimentary filter

   ^~~~~~~~~~

D:\Kuliah\SIDANG TA TEPAT WAKTU YOK!\testing_MPU9250_KAALMAN\testing_MPU9250_KAALMAN.ino:182:3: note: suggested alternative: 'kalAngleX'

   compAngleX = 0.93 * (compAngleX + gyroXrate * dt) + 0.07 * roll; // Calculate the angle using a Complimentary filter

   ^~~~~~~~~~

   kalAngleX

testing_MPU9250_KAALMAN:183:3: error: 'compAngleY' was not declared in this scope

   compAngleY = 0.93 * (compAngleY + gyroYrate * dt) + 0.07 * pitch;

   ^~~~~~~~~~

D:\Kuliah\SIDANG TA TEPAT WAKTU YOK!\testing_MPU9250_KAALMAN\testing_MPU9250_KAALMAN.ino:183:3: note: suggested alternative: 'kalAngleY'

   compAngleY = 0.93 * (compAngleY + gyroYrate * dt) + 0.07 * pitch;

   ^~~~~~~~~~

   kalAngleY

testing_MPU9250_KAALMAN:184:3: error: 'compAngleZ' was not declared in this scope

   compAngleZ = 0.93 * (compAngleZ + gyroZrate * dt) + 0.07 * yaw;

   ^~~~~~~~~~

D:\Kuliah\SIDANG TA TEPAT WAKTU YOK!\testing_MPU9250_KAALMAN\testing_MPU9250_KAALMAN.ino:184:3: note: suggested alternative: 'kalAngleZ'

   compAngleZ = 0.93 * (compAngleZ + gyroZrate * dt) + 0.07 * yaw;

   ^~~~~~~~~~

   kalAngleZ

D:\Kuliah\SIDANG TA TEPAT WAKTU YOK!\testing_MPU9250_KAALMAN\I2C.ino: In function 'uint8_t i2cRead(uint8_t, uint8_t*, uint8_t)':

I2C:37:71: error: 'uint8_t i2cRead(uint8_t, uint8_t*, uint8_t)' redeclared as different kind of symbol

 uint8_t i2cRead(uint8_t registerAddress, uint8_t *data, uint8_t nbytes) {

                                                                       ^

D:\Kuliah\SIDANG TA TEPAT WAKTU YOK!\testing_MPU9250_KAALMAN\testing_MPU9250_KAALMAN.ino:43:8: note: previous declaration 'double i2cRead'

 double i2cRead;

        ^~~~~~~

Using library Kalman at version 1.1.0 in folder: C:\Users\USER\Documents\Arduino\libraries\Kalman 

Using library BasicLinearAlgebra at version 3.6 in folder: C:\Users\USER\Documents\Arduino\libraries\BasicLinearAlgebra 

Using library MPU9250 at version 0.4.8 in folder: C:\Users\USER\Documents\Arduino\libraries\MPU9250 

Using library Wire at version 1.0 in folder: C:\Users\USER\AppData\Local\Arduino15\packages\arduino\hardware\avr\1.8.6\libraries\Wire 

exit status 1

conflicting declaration 'uint8_t i2cData [14]'

Yes, this is simulator code. I'm using Arduino Nano ATMEGA328

[jremington]

The TKJ Electronics offering is not a Kalman filter, and doesn't work well, so don't bother with it.

Adafruit has a genuine Kalman filter for a different IMU, and that should not be too difficult to adapt to the obsolete, discontinued MPU-9250, if there is any point in doing so.