Hi, I would like to ask you, if you have any advice or solution how to solve issue that I am using MPU-6050 and example project from Arduino, which should show actual pitch/roll/yaw. (using arduino nano and 115200 baud comunication)
Problem is:
On the start of code is calibration, after that I get every few milliseconds value from sensor. I start with sensor flat on table. Calibration set it up for 0. When I start moving it changing pitch/roll/yaw perfectly. But when I move back on start position I don't have anymore 0/0/0.
It is because I dont move so smooth and dont make the same moves to back position. (smooth, and during the same time).
calculation:
// Calculate Pitch, Roll and Yaw
pitch = pitch + norm.YAxis * timeStep;
roll = roll + norm.XAxis * timeStep;
yaw = yaw + norm.ZAxis * timeStep;
Full code:
/*
MPU6050 Triple Axis Gyroscope & Accelerometer. Pitch & Roll & Yaw Gyroscope Example.
Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
GIT: https://github.com/jarzebski/Arduino-MPU6050
Web: http://www.jarzebski.pl
(c) 2014 by Korneliusz Jarzebski
*/
// WORKING one! but loosing calibration and after few turns it change zero position.
#include <Wire.h>
#include <MPU6050.h>
MPU6050 mpu;
// Timers
unsigned long timer = 0;
float timeStep = 0.01;
// Pitch, Roll and Yaw values
float pitch = 0;
float roll = 0;
float yaw = 0;
void setup()
{
Serial.begin(115200);
// Initialize MPU6050
while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
{
Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
delay(500);
}
// Calibrate gyroscope. The calibration must be at rest.
// If you don't want calibrate, comment this line.
mpu.calibrateGyro();
// Set threshold sensivty. Default 3.
// If you don't want use threshold, comment this line or set 0.
mpu.setThreshold(3);
}
void loop()
{
timer = millis();
// Read normalized values
Vector norm = mpu.readNormalizeGyro();
// Calculate Pitch, Roll and Yaw
pitch = pitch + norm.YAxis * timeStep;
roll = roll + norm.XAxis * timeStep;
yaw = yaw + norm.ZAxis * timeStep;
// Output raw
Serial.print(" Pitch = ");
Serial.print(pitch);
Serial.print(" Roll = ");
Serial.print(roll);
Serial.print(" Yaw = ");
Serial.println(yaw);
// Wait to full timeStep period
delay((timeStep*1000) - (millis() - timer));
}
Another point is that I don't need to check every 5-10ms values from sensor. I guess that where I am loosing data when I check it less often and "calculate" that way of move.
But for me and my project I would like to get them max like 0.1s - 5s. I guess that I can still get them every 5ms and just wait like 100x loops and start using that data, but anyway... Anyone have some idea how to stop loosing after few moves the "calibrated" point from start?
I want to use using this sensor on my bike to know about pitch and acceleration and saving these data on sd card. but I cannot use that when I need to ask for data (to have them correctly) every few ms 
So my idea is every half of second - second to ask for data from sensor, calculate pitch and all angles, and save them. But when I start with 0 coordinates, move on side and move back on the same spot, I am not on 0 back but on some different values
Thanks