yawpitchroll角度问题

戊辰寒

  设定了陀螺仪跟加速度计的精度，设定了数字高低通滤波器。

  测试结果是只有FIFO数据溢出复位以后的第一行数据可信，其他的都乱跳……
  

  如红框所示，分别对应Yaw(Z轴) Pitch(Y轴) Roll(X轴)


图片引自wikipedia.org

请教各位大神如何只提取第一行的数据？


下面是我的程序：

1. // I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class
   
2. // 10/7/2011 by Jeff Rowberg <[url=mailto:[email protected]][email protected][/url]>
   
3. // Updates should (hopefully) always be available at [url=https://github.com/jrowberg/i2cdevlib]https://github.com/jrowberg/i2cdevlib[/url]
   
4. //
   
5. // Changelog:
   
6. //     2011-10-07 - initial release
   
7. 
   
8. /* ============================================
   
9. I2Cdev device library code is placed under the MIT license
   
10. Copyright (c) 2011 Jeff Rowberg
    
11. 
    
12. Permission is hereby granted, free of charge, to any person obtaining a copy
    
13. of this software and associated documentation files (the "Software"), to deal
    
14. in the Software without restriction, including without limitation the rights
    
15. to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
    
16. copies of the Software, and to permit persons to whom the Software is
    
17. furnished to do so, subject to the following conditions:
    
18. 
    
19. The above copyright notice and this permission notice shall be included in
    
20. all copies or substantial portions of the Software.
    
21. 
    
22. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    
23. IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
    
24. FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
    
25. AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
    
26. LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
    
27. OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
    
28. THE SOFTWARE.
    
29. ===============================================
    
30. */
    
31. 
    
32. // Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
    
33. // is used in I2Cdev.h
    
34. #include "Wire.h"
    
35. 
    
36. // I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
    
37. // for both classes must be in the include path of your project
    
38. #include "I2Cdev.h"
    
39. #include "MPU6050_6Axis_MotionApps20.h"
    
40. // class default I2C address is 0x68
    
41. // specific I2C addresses may be passed as a parameter here
    
42. // AD0 low = 0x68 (default for InvenSense evaluation board)
    
43. // AD0 high = 0x69
    
44. MPU6050 mpu;
    
45. 
    
46. 
    
47. #define LED_PIN 13
    
48. bool blinkState = false;
    
49. 
    
50. bool dmpReady = false; // set true if DMP init was successful
    
51. uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
    
52. uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
    
53. uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
    
54. uint16_t fifoCount; // count of all bytes currently in FIFO
    
55. uint8_t fifoBuffer[64]; // FIFO storage buffer
    
56. int16_t ax, ay, az;
    
57. int16_t gx, gy, gz;
    
58. int8_t offset_x, offset_y, offset_z;
    
59. 
    
60. 
    
61. // orientation/motion vars
    
62. Quaternion q; // [w, x, y, z] quaternion container
    
63. VectorInt16 aa; // [x, y, z] accel sensor measurements
    
64. VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
    
65. VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
    
66. VectorFloat gravity; // [x, y, z] gravity vector
    
67. float euler[3]; // [psi, theta, phi] Euler angle container
    
68. float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
    
69. 
    
70. // ================================================================
    
71. // === INTERRUPT DETECTION ROUTINE ===
    
72. // ================================================================
    
73. 
    
74. volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
    
75. void dmpDataReady() {
    
76.     mpuInterrupt = true;
    
77. }
    
78. 
    
79. 
    
80. 
    
81. // ================================================================
    
82. // === INITIAL SETUP ===
    
83. // ================================================================
    
84. 
    
85. void setup() {
    
86.     // join I2C bus (I2Cdev library doesn't do this automatically)
    
87.     Wire.begin();
    
88. 
    
89.     // initialize serial communication
    
90.     // (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
    
91.     // it's really up to you depending on your project)
    
92.     Serial.begin(9600);
    
93.     while (!Serial); // wait for Leonardo enumeration, others continue immediately
    
94. 
    
95.     // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio
    
96.     // Pro Mini running at 3.3v, cannot handle this baud rate reliably due to
    
97.     // the baud timing being too misaligned with processor ticks. You must use
    
98.     // 38400 or slower in these cases, or use some kind of external separate
    
99.     // crystal solution for the UART timer.
    
100.     // initialize device
     
101.     Serial.println("Initializing I2C devices...");
     
102.     mpu.initialize();
     
103. 
     
104.     // verify connection
     
105.     Serial.println("Testing device connections...");
     
106.     Serial.println(mpu.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
     
107. 
     
108. 
     
109.     //mpu.setXGyroOffset(6);mpu.setYGyroOffset(-2);
     
110.     //mpu.setZGyroOffset(0);
     
111.    
     
112.     /*Serial.print("Offset:\t");
     
113.     Serial.print(mpu.getXAccelOffset()); Serial.print("\t");
     
114.     Serial.print(mpu.getYAccelOffset()); Serial.print("\t");
     
115.     Serial.print(mpu.getZAccelOffset()); Serial.print("\t");
     
116.     Serial.print(mpu.getXGyroOffset()); Serial.print("\t");
     
117.     Serial.print(mpu.getYGyroOffset()); Serial.print("\t");
     
118.     Serial.println(mpu.getZGyroOffset());
     
119.     Serial.print("Gain:\t");
     
120.     Serial.print(mpu.getXFineGain()); Serial.print("\t");
     
121.     Serial.print(mpu.getYFineGain()); Serial.print("\t");
     
122.     Serial.println(mpu.getZFineGain());// Serial.print("\t");
     
123.     */   
     
124. 
     
125. 
     
126.     mpu.setFullScaleGyroRange(3);
     
127.     mpu.setFullScaleAccelRange(3);
     
128.    
     
129.     mpu.setDLPFMode(6);
     
130.     mpu.setDHPFMode(1);
     
131.         
     
132.     // load and configure the DMP
     
133.     Serial.println("Initializing DMP...");
     
134.     devStatus = mpu.dmpInitialize();
     
135.    
     
136.     // make sure it worked (returns 0 if so)
     
137.     if (devStatus == 0) {
     
138.         // turn on the DMP, now that it's ready
     
139.         Serial.println("Enabling DMP...");
     
140.         mpu.setDMPEnabled(true);
     
141. 
     
142.         // enable Arduino interrupt detection
     
143.         Serial.println("Enabling interrupt detection (Arduino external interrupt 0)...");
     
144.         attachInterrupt(0, dmpDataReady, RISING);
     
145.         mpuIntStatus = mpu.getIntStatus();
     
146. 
     
147.         // set our DMP Ready flag so the main loop() function knows it's okay to use it
     
148.         Serial.println("DMP ready! Waiting for first interrupt...");
     
149.         dmpReady = true;
     
150. 
     
151.         // get expected DMP packet size for later comparison
     
152.         packetSize = mpu.dmpGetFIFOPacketSize();
     
153.     } else {
     
154.         // ERROR!
     
155.         // 1 = initial memory load failed
     
156.         // 2 = DMP configuration updates failed
     
157.         // (if it's going to break, usually the code will be 1)
     
158.         Serial.print("DMP Initialization failed (code ");
     
159.         Serial.print(devStatus);
     
160.         Serial.println(")");
     
161.     }
     
162. 
     
163.         
     
164.     // configure Arduino LED for
     
165.     pinMode(LED_PIN, OUTPUT);
     
166. }
     
167. 
     
168. void loop() {
     
169.   
     
170.     // if programming failed, don't try to do anything
     
171.     if (!dmpReady) return;
     
172. 
     
173.     // wait for MPU interrupt or extra packet(s) available
     
174.     if (!mpuInterrupt && fifoCount < packetSize) return;
     
175. 
     
176.     // reset interrupt flag and get INT_STATUS byte
     
177.     mpuInterrupt = false;
     
178.     mpuIntStatus = mpu.getIntStatus();
     
179. 
     
180.     // get current FIFO count
     
181.     fifoCount = mpu.getFIFOCount();
     
182. 
     
183.     // check for overflow (this should never happen unless our code is too inefficient)
     
184.     if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
     
185.         // reset so we can continue cleanly
     
186.         mpu.resetFIFO();
     
187.         Serial.println(F("FIFO overflow!"));
     
188. 
     
189.     // otherwise, check for DMP data ready interrupt (this should happen frequently)
     
190.     } else if (mpuIntStatus & 0x02) {
     
191.         // wait for correct available data length, should be a VERY short wait
     
192.         while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
     
193. 
     
194.         // read a packet from FIFO
     
195.         mpu.getFIFOBytes(fifoBuffer, packetSize);
     
196.         
     
197.         // track FIFO count here in case there is > 1 packet available
     
198.         // (this lets us immediately read more without waiting for an interrupt)
     
199.         fifoCount -= packetSize;
     
200.    
     
201.             /*display Euler angles in degrees
     
202.             通过欧拉角度显示偏航*/
     
203.             mpu.dmpGetQuaternion(&q, fifoBuffer);
     
204.             mpu.dmpGetGravity(&gravity, &q);
     
205.             mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
     
206.             Serial.print("ypr\t");
     
207.             Serial.print(ypr[0] * 180/M_PI);
     
208.             Serial.print("\t");
     
209.             Serial.print(ypr[1] * 180/M_PI);
     
210.             Serial.print("\t");
     
211.             Serial.println(ypr[2] * 180/M_PI);
     
212. 
     
213. 
     
214.     // read raw accel/gyro measurements from device
     
215.     //mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
     
216. 
     
217.     // these methods (and a few others) are also available
     
218.     //accelgyro.getAcceleration(&ax, &ay, &az);
     
219.     //accelgyro.getRotation(&gx, &gy, &gz);
     
220.       
     
221.     // display tab-separated accel/gyro x/y/z values
     
222.     //Serial.print("a/g:\t");
     
223.     /*Serial.print(ax); Serial.print(",");
     
224.     Serial.print(ay); Serial.print(",");
     
225.     Serial.print(az); Serial.print(",");
     
226.     Serial.print(gx); Serial.print(",");
     
227.     Serial.print(gy); Serial.print(",");
     
228.     Serial.println(gz);*/
     
229. 
     
230.     // blink LED to indicate activity
     
231.     blinkState = !blinkState;
     
232.     digitalWrite(LED_PIN, blinkState);
     
233.    }
     
234. }

复制代码

pfhnr

解决了吗？我也遇到同样的问题

lb_8848

遇到同样的问题了  有人解决了么？

mebelove

同样的问题，如果添加delay，300ms就可以，但是不理解。这样速率太慢了。

wunanyx

采集回来，自己编程

Microsoft

我的6050工作一会就停止发送数据了，楼主你碰到这个情况了吗

wujingyu

电机运行了吗？可能是电机产生的干扰造成的

wujingyu

mebelove 发表于 2013-5-8 23:32
同样的问题，如果添加delay，300ms就可以，但是不理解。这样速率太慢了。

请问，你的delay(300)加在什么地方就好了？