if(cal_int != 2000){
Serial.print("Calibrating the gyro");
//Let's take multiple gyro data samples so we can determine the average gyro offset (calibration).
for (cal_int = 0; cal_int < 2000 ; cal_int ++){ //Take 2000 readings for calibration.
}
Serial.println(".");
//Now that we have 2000 measures, we need to devide by 2000 to get the average gyro offset.
gyro_axis_cal[1] /= 2000; //Divide the roll total by 2000.
gyro_axis_cal[2] /= 2000; //Divide the pitch total by 2000.
gyro_axis_cal[3] /= 2000; //Divide the yaw total by 2000.
}
I'm using this code to balance my quadcopter.. but gyroscope is very sensitive,, i was asked to reduce its sensitivity using MPU6050 data sheet.. these are the scale range of ±250, ±500, ±1000, and ±2000°/sec
can someone help me.. what values should i change and to what values to make it less sensitive?
Please read the "how to use the forum" stickies to see how to format and post code.
You should post the entire program. There are variable declarations, library includes and setup information missing from your snippets. In fact your snippet has little to do with your question. Posting screen shots of code is really pretty useless.
What library are you using? The libraries that I have used have a function for setting the full scale for the gyro. The least sensitive would be the 2000 deg/sec (Full Scale) setting.
void setup() {
// put your setup code here, to run once:
}
void loop() {
if(cal_int != 2000){
Serial.print("Calibrating the gyro");
//Let's take multiple gyro data samples so we can determine the average gyro offset (calibration).
for (cal_int = 0; cal_int < 2000 ; cal_int ++){ //Take 2000 readings for calibration.
if(cal_int % 125 == 0){
digitalWrite(12, !digitalRead(12)); //Change the led status to indicate calibration.
Serial.print(".");
}
gyro_signalen(); //Read the gyro output.
gyro_axis_cal[1] += gyro_axis[1]; //Ad roll value to gyro_roll_cal.
gyro_axis_cal[2] += gyro_axis[2]; //Ad pitch value to gyro_pitch_cal.
gyro_axis_cal[3] += gyro_axis[3]; //Ad yaw value to gyro_yaw_cal.
}
Serial.println(".");
//Now that we have 2000 measures, we need to devide by 2000 to get the average gyro offset.
gyro_axis_cal[1] /= 2000; //Divide the roll total by 2000.
gyro_axis_cal[2] /= 2000; //Divide the pitch total by 2000.
gyro_axis_cal[3] /= 2000; //Divide the yaw total by 2000.
}
}
//Let's get the current gyro data.
gyro_signalen();
//Gyro angle calculations
//0.0000611 = 1 / (250Hz / 65.5)
angle_pitch += gyro_pitch * 0.0000611; //Calculate the traveled pitch angle and add this to the angle_pitch variable.
angle_roll += gyro_roll * 0.0000611; //Calculate the traveled roll angle and add this to the angle_roll variable.
//0.000001066 = 0.0000611 * (3.142(PI) / 180degr) The Arduino sin function is in radians
angle_pitch -= angle_roll * sin(gyro_yaw * 0.000001066); //If the IMU has yawed transfer the roll angle to the pitch angel.
angle_roll += angle_pitch * sin(gyro_yaw * 0.000001066); //If the IMU has yawed transfer the pitch angle to the roll angel.
//Accelerometer angle calculations
acc_total_vector[0] = sqrt((acc_x*acc_x)+(acc_y*acc_y)+(acc_z*acc_z)); //Calculate the total accelerometer vector.
//57.296 = 1 / (3.142 / 180) The Arduino asin function is in radians
angle_pitch_acc = asin((float)acc_y/acc_total_vector[0])* 57.296; //Calculate the pitch angle.
angle_roll_acc = asin((float)acc_x/acc_total_vector[0])* -57.296; //Calculate the roll angle.
if(!first_angle){
angle_pitch = angle_pitch_acc; //Set the pitch angle to the accelerometer angle.
angle_roll = angle_roll_acc; //Set the roll angle to the accelerometer angle.
first_angle = true;
}
else{
angle_pitch = angle_pitch * 0.9996 + angle_pitch_acc * 0.0004; //Correct the drift of the gyro pitch angle with the accelerometer pitch angle.
angle_roll = angle_roll * 0.9996 + angle_roll_acc * 0.0004; //Correct the drift of the gyro roll angle with the accelerometer roll angle.
}
}
}
}
sorry for that it was my first post..
so there is no way to reduce its sensitivity ?
I still don't know what library that you are using. Setting the gyro sensitivity is the least of your problems. That code will not come close to compiling. At the very least you have no library included for the gyro, nor Wire for the I2C interface, lots of undeclared variables, improper function definition and no Serial.begin (serial print won't work without). Have you run any examples from the unnamed library?
