MPU6050 help!!!

i am using MPU6050 to stabilizing something and i want to apply a PID for roll,yaw and pitch but i don't know where to apply it in Jeff Rowberg's code...can anyone help me ? Where should i write my code stuff

#include "I2Cdev.h"

#include "MPU6050_6Axis_MotionApps20.h"
//#include "MPU6050.h" // not necessary if using MotionApps include file

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
   #include "Wire.h"
#endif


MPU6050 mpu;

#define OUTPUT_READABLE_YAWPITCHROLL

#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;

// MPU control/status vars
bool dmpReady = false;  // set true if DMP init was successful
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container
VectorInt16 aa;         // [x, y, z]            accel sensor measurements
VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
VectorFloat gravity;    // [x, y, z]            gravity vector
float euler[3];         // [psi, theta, phi]    Euler angle container
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
int y,p,r;
// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '

Moderator edit : CODE TAGS. Please, someone tell me why they're so hard to get., 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };

// ================================================================
// ===              INTERRUPT DETECTION ROUTINE                ===
// ================================================================

volatile bool mpuInterrupt = false;    // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
  mpuInterrupt = true;
}

// ================================================================
// ===                      INITIAL SETUP                      ===
// ================================================================

void setup() {
 
  #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
      Wire.begin();
     
  #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
      Fastwire::setup(400, true);
  #endif

Serial.begin(115200);
  while (!Serial); // wait for Leonardo enumeration, others continue immediately

// initialize device
  Serial.println(F("Initializing I2C devices..."));
  mpu.initialize();

// verify connection
  Serial.println(F("Testing device connections..."));
  Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

// wait for ready
  Serial.println(F("\nSend any character to begin DMP programming and demo: "));
  while (Serial.available() && Serial.read()); // empty buffer
  while (!Serial.available());                // wait for data
  while (Serial.available() && Serial.read()); // empty buffer again

// load and configure the DMP
  Serial.println(F("Initializing DMP..."));
  devStatus = mpu.dmpInitialize();

// supply your own gyro offsets here, scaled for min sensitivity
 
  mpu.setXGyroOffset(-33);
  mpu.setYGyroOffset(-36);
  mpu.setZGyroOffset(3);
  mpu.setZAccelOffset(1450);

// make sure it worked (returns 0 if so)
  if (devStatus == 0) {
      // turn on the DMP, now that it's ready
      Serial.println(F("Enabling DMP..."));
      mpu.setDMPEnabled(true);

// enable Arduino interrupt detection
      Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
      attachInterrupt(0, dmpDataReady, RISING);
      mpuIntStatus = mpu.getIntStatus();

// set our DMP Ready flag so the main loop() function knows it's okay to use it
      Serial.println(F("DMP ready! Waiting for first interrupt..."));
      dmpReady = true;

// get expected DMP packet size for later comparison
      packetSize = mpu.dmpGetFIFOPacketSize();
  } else {
      // ERROR!
      // 1 = initial memory load failed
      // 2 = DMP configuration updates failed
      // (if it's going to break, usually the code will be 1)
      Serial.print(F("DMP Initialization failed (code "));
      Serial.print(devStatus);
      Serial.println(F(")"));
  }

// configure LED for output
  pinMode(LED_PIN, OUTPUT);
}

// ================================================================
// ===                    MAIN PROGRAM LOOP                    ===
// ================================================================

void loop() {
  // if programming failed, don't try to do anything
  if (!dmpReady) return;

// wait for MPU interrupt or extra packet(s) available
  while (!mpuInterrupt && fifoCount < packetSize) {
      // other program behavior stuff here
      // .
      // .
      // .
      // if you are really paranoid you can frequently test in between other
      // stuff to see if mpuInterrupt is true, and if so, "break;" from the
      // while() loop to immediately process the MPU data
      // .
      // .
      // .
  }

// reset interrupt flag and get INT_STATUS byte
  mpuInterrupt = false;
  mpuIntStatus = mpu.getIntStatus();

// get current FIFO count
  fifoCount = mpu.getFIFOCount();

// check for overflow (this should never happen unless our code is too inefficient)
  if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
      // reset so we can continue cleanly
      mpu.resetFIFO();
      Serial.println(F("FIFO overflow!"));

// otherwise, check for DMP data ready interrupt (this should happen frequently)
  } else if (mpuIntStatus & 0x02) {
      // wait for correct available data length, should be a VERY short wait
      while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

// read a packet from FIFO
      mpu.getFIFOBytes(fifoBuffer, packetSize);
     
      // track FIFO count here in case there is > 1 packet available
      // (this lets us immediately read more without waiting for an interrupt)
      fifoCount -= packetSize;

#ifdef OUTPUT_READABLE_YAWPITCHROLL
          // display Euler angles in degrees
          mpu.dmpGetQuaternion(&q, fifoBuffer);
          mpu.dmpGetGravity(&gravity, &q);
          mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
         
          y = (ypr[0] * 180/M_PI);
         
          p = (ypr[1] * 180/M_PI);
         
          r =(ypr[2] * 180/M_PI);
      #endif

// blink LED to indicate activity
      blinkState = !blinkState;
      digitalWrite(LED_PIN, blinkState);
  }
}


Moderator edit : CODE TAGS. Please, someone tell me why they're so hard to get.

Please edit your post to use code tags ("</>" button), not quote tags.

    y = (ypr[0] * 180/M_PI);
           
           p = (ypr[1] * 180/M_PI);
          
           r =(ypr[2] * 180/M_PI);
       #endif

After#endif

G

i don't work...if i write something after #endif it say FIFO overflow and stop...

And your code is........?

G

i want to apply this function to pitch and roll...where value is what i want pitch or roll and mspeed si base speed of motors...they are brushless and i command them with 30A esc

void PID1 ( float setpoint , float value, int mspeed)
{
        kp = 0;
        kd = 0;
        ki = 0 ;
        error = value - setpoint;
        alb = error + lasterror;
        float sp = kp * error + ki*alb +  kd *(error - lasterror);
         m1s = mspeed - sp;
         m2s = mspeed + sp;
        if(m1s>(mspeed+20)) m1s = mspeed+20;
        if(m2s>(mspeed+20)) m2s = mspeed+20;
        if(m1s<20) m1s = 20;
        if(m2s<20) m2s = 20;
        lasterror = error;
}
 // check for overflow (this should never happen unless our code is too INEFFICIENT)
   if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
       // reset so we can continue cleanly
       mpu.resetFIFO();
       Serial.println(F("FIFO overflow!"));

Perhaps this gives you a clue.
Could be in the code you haven't posted.

G

kp = 0;
        kd = 0;
        ki = 0 ;
        error = value - setpoint;
        alb = error + lasterror;
        float sp = kp * error + ki*alb +  kd *(error - lasterror);

Remind me - what happens when you multiply something by zero?