# teaching machines

## Flying with the MPU-6050

A student and I are working on a hardware project. This is world I don’t know well, and I think the best thing I can do is painstakingly document our every step. Unfortunately, the project started four months ago. I’m a bit late.

Our first task was to figure out how to talk to an accelerometer. We settled on an MPU-6050, which meant nothing to us but came up in a lot of internet searches. One thing I didn’t quite understand about the electronics market is that one company will fabricate a barebones sensor, and a bunch of others will purchase (or license?) them and integrate them into breakout boards that are easier to tinker with and connect to ad hoc circuits on a breadboard. The core MPU-6050 is made by InvenSense. We bought these packaged on breakout boards from Longruner—because they had five stars on Amazon.

They arrived without headers attached. I needed to solder them in. Let’s not talk about that.

Once the headers were soldered, we were able to insert the sensors into a breadboard and start making connections. Tutorials told me to make these connections from an Arduino to the sensor, and I willingly obeyed:

• 3.3V to VCC.
• GND to GND.
• Analog 5 to SCL.
• Analog 4 to SDA.
• Digital 2 to INT.

I’ve only slowly learned what each of the sensor pins does. Here’s my current understanding:

• VCC: This connection provides power. I got lots of mixed messages on whether or not I could use the Arduino’s 5V source instead. I haven’t tried.
• GND: The current has to get back home, right? Except current is the inverse of electron flow. So, this connection actually lets the electrons out.
• SCL: The MPU-6050 conforms to the I2C bus protocol, which was a standard designed by Philips Semiconductors to hook up lots of slave components to a master device with just two wires. The SCL—or Serial CLock—wire is one of them; it sends a periodic signal from the master to the slaves. Clock signals are use to synchronize the operation of the slave device with the master. In a sense, the master determines the heartbeat of the slave.
• SDA: SDA—or Serial DAta—is the other wire in the I2C bus. One bit of information can be sent across this line per clock tick. The information can go either way, from slave to master, or from master to slave. When the master device wants to send it message, it starts by sending an address—which uniquely identifies which of the possibly many slave devices the master wants to talk to. (A maximum of 1008 slaves may be connected. The address is encoded in 10 bits. 2^10 is 1024, not 1008, but some addresses are reserved for reasons I do not know. Wait, scratch that. Apparently 10 bits of address are possible, but not common. There are usually 7 bits of address, with 112 legal addresses.) After the address, the master sends one more bit: a read/write signal, indicating whether the master or slave will be doing the talking. Then one or more data frames are sent. The data signal should flip only when the clock signal is low.
• INT: The sensor contains a 1024-byte buffer to hold data. When data is placed in the buffer, the sensor can signal the host device with an interrupt. This pin is optional, I think, and it’s not clear if it should even be used if multiple I2C devices are on a single circuit. How does the host know who signaled the interrupt?

From there we cloned Jeff Rowberg’s I2Cdev library. We copied out Arduino/MPU6050 and Arduino/I2Cdev to our Arduino project’s lib directory, and Arduino/MPU6050/examples/MPU6050_DMP6/MPU6050_DMP6.ino to our project’s src directory. And the accelerometer readings flowed…

But the readings were unstable. There was considerable drift even when the accelerometer was absolutely idle. I stumbled across this script to help calibrate the sensitivities:

// Arduino sketch that returns calibration offsets for MPU6050 //   Version 1.1  (31th January 2014)
// Done by Luis Rodenas <luisrodenaslorda@gmail.com>
// Based on the I2Cdev library and previous work by Jeff Rowberg <jeff@rowberg.net>
// Updates (of the library) should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib

// These offsets were meant to calibrate MPU6050's internal DMP, but can be also useful for reading sensors.
// The effect of temperature has not been taken into account so I can't promise that it will work if you
// calibrate indoors and then use it outdoors. Best is to calibrate and use at the same room temperature.

I2Cdev device library code is placed under the MIT license

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
=========================================================
*/

// I2Cdev and MPU6050 must be installed as libraries
#include "I2Cdev.h"
#include "MPU6050.h"
#include "Wire.h"

///////////////////////////////////   CONFIGURATION   /////////////////////////////
//Change this 3 variables if you want to fine tune the skecth to your needs.
int buffersize=1000;     //Amount of readings used to average, make it higher to get more precision but sketch will be slower  (default:1000)
int acel_deadzone=8;     //Acelerometer error allowed, make it lower to get more precision, but sketch may not converge  (default:8)
int giro_deadzone=1;     //Giro error allowed, make it lower to get more precision, but sketch may not converge  (default:1)

// default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for InvenSense evaluation board)
//MPU6050 accelgyro;
MPU6050 accelgyro(0x68); // <-- use for AD0 high

int16_t ax, ay, az,gx, gy, gz;

int mean_ax,mean_ay,mean_az,mean_gx,mean_gy,mean_gz,state=0;
int ax_offset,ay_offset,az_offset,gx_offset,gy_offset,gz_offset;

///////////////////////////////////   SETUP   ////////////////////////////////////
void setup() {
// join I2C bus (I2Cdev library doesn't do this automatically)
Wire.begin();
// COMMENT NEXT LINE IF YOU ARE USING ARDUINO DUE
TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz). Leonardo measured 250kHz.

// initialize serial communication
Serial.begin(115200);

// initialize device
accelgyro.initialize();

while (Serial.available() && Serial.read()); // empty buffer
while (!Serial.available()){
Serial.println(F("Send any character to start sketch.\n"));
delay(1500);
}
while (Serial.available() && Serial.read()); // empty buffer again

// start message
Serial.println("\nMPU6050 Calibration Sketch");
delay(2000);
Serial.println("\nYour MPU6050 should be placed in horizontal position, with package letters facing up. \nDon't touch it until you see a finish message.\n");
delay(3000);
// verify connection
Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
delay(1000);
// reset offsets
accelgyro.setXAccelOffset(0);
accelgyro.setYAccelOffset(0);
accelgyro.setZAccelOffset(0);
accelgyro.setXGyroOffset(0);
accelgyro.setYGyroOffset(0);
accelgyro.setZGyroOffset(0);
}

///////////////////////////////////   LOOP   ////////////////////////////////////
void loop() {
if (state==0){
meansensors();
state++;
delay(1000);
}

if (state==1) {
Serial.println("\nCalculating offsets...");
calibration();
state++;
delay(1000);
}

if (state==2) {
meansensors();
Serial.println("\nFINISHED!");
Serial.print(mean_ax);
Serial.print("\t");
Serial.print(mean_ay);
Serial.print("\t");
Serial.print(mean_az);
Serial.print("\t");
Serial.print(mean_gx);
Serial.print("\t");
Serial.print(mean_gy);
Serial.print("\t");
Serial.println(mean_gz);
Serial.print(ax_offset);
Serial.print("\t");
Serial.print(ay_offset);
Serial.print("\t");
Serial.print(az_offset);
Serial.print("\t");
Serial.print(gx_offset);
Serial.print("\t");
Serial.print(gy_offset);
Serial.print("\t");
Serial.println(gz_offset);
Serial.println("\nData is printed as: acelX acelY acelZ giroX giroY giroZ");
Serial.println("Check that your sensor readings are close to 0 0 16384 0 0 0");
Serial.println("If calibration was succesful write down your offsets so you can set them in your projects using something similar to mpu.setXAccelOffset(youroffset)");
while (1);
}
}

///////////////////////////////////   FUNCTIONS   ////////////////////////////////////
void meansensors(){
long i=0,buff_ax=0,buff_ay=0,buff_az=0,buff_gx=0,buff_gy=0,buff_gz=0;

while (i<(buffersize+101)){
// read raw accel/gyro measurements from device
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

if (i>100 && i<=(buffersize+100)){ //First 100 measures are discarded
buff_ax=buff_ax+ax;
buff_ay=buff_ay+ay;
buff_az=buff_az+az;
buff_gx=buff_gx+gx;
buff_gy=buff_gy+gy;
buff_gz=buff_gz+gz;
}
if (i==(buffersize+100)){
mean_ax=buff_ax/buffersize;
mean_ay=buff_ay/buffersize;
mean_az=buff_az/buffersize;
mean_gx=buff_gx/buffersize;
mean_gy=buff_gy/buffersize;
mean_gz=buff_gz/buffersize;
}
i++;
delay(2); //Needed so we don't get repeated measures
}
}

void calibration(){
ax_offset=-mean_ax/8;
ay_offset=-mean_ay/8;
az_offset=(16384-mean_az)/8;

gx_offset=-mean_gx/4;
gy_offset=-mean_gy/4;
gz_offset=-mean_gz/4;
while (1){
accelgyro.setXAccelOffset(ax_offset);
accelgyro.setYAccelOffset(ay_offset);
accelgyro.setZAccelOffset(az_offset);

accelgyro.setXGyroOffset(gx_offset);
accelgyro.setYGyroOffset(gy_offset);
accelgyro.setZGyroOffset(gz_offset);

meansensors();
Serial.println("...");

}
}


The output is six numbers used to normalize the sensor readings. We plugged these numbers into the following lines of the MPU6050_DMP6.ino sketch:

mpu.setXAccelOffset(ax);
mpu.setYAccelOffset(ay);
mpu.setZAccelOffset(az);
mpu.setXGyroOffset(gx);
mpu.setYGyroOffset(gy);
mpu.setZGyroOffset(gz);


The results were much more stable.

With working hardware, it was time to do something interesting. Enter my nine-year-old son. He had a science and technology fair coming up, so I asked him if he wanted to make a little game for which he’d build his own controller. We agreed that it should be a flying game to test the full range of the accelerometer’s motion. He found a donut model and a fork model, and he put it all together in Unity. Here’s the end result:

At the beginning of each level, the system needs a few seconds to settle down. I’m not sure I understand why. Once it settles, we capture the current orientation and invert it. (I helped him with this part.) Each frame, we apply the inverse transformation to cancel out that initial wild aim and realign the fork it to its resting posture.

The fork tracks the accelerometer wonderfully well. I taught my son about low-pass filters, and he implemented one to smooth out some of the jerkiness.

Now it’s time to hook up more than one MPU-6050 in one circuit. Wish us luck!