This video was so well researched, I found it very useful. I had already integrated the rate angle readings to get an angle, but I had not considered the problem shown at 10:00. Thanks.
Great videos, I stopped by after finding your arduino/PID video. Here I set hours later still watching your channel. I wanted some basic PID understanding for a small rc car control demo, now I just want to scrap the car and go straight to quad. Way to promote your sport and hobby. Well done!
Great to hear and have fun building. Don't forget to check my channel for additional information about the YMFC-3D version 2 quad: www.brokking.net/ymfc-3d_v2_qanda.html
Great job! I think MPU6050 is one of the most extended IMU in market as you said. This explanations will help us a lot for understanding the basics about auto-leveling. Waiting for code!
@7:51 how does "Z-axis/250/65.5 translate to Z-axis * 0.0000611" .... that answer is possible if you divide z-axis / 0.004 / 65.5..... so which is the right and which is wrong? did you mean to write 0.004 instead of 250 , or is the 250 correct and the real answer is not 0.0000611?
Yes, it's indeed becoming fun now. Good fun! And this all while we are getting uducated by Joop. I really enjoyed the maths during the video. Thank you Joop.
@@Joop_Brokking QUESTION here for everyone and also JOOP : if 1 degree per second = 65.5 and then in 1 min it should be 60 * 65.5= 3930, then how can you say in one min it is 6 *65= 393. how can there be 6 seconds in 1 min. please tell me. is this a mistake. 3:30
Very educational video (for me). I was trying a two wheel self-balancing model using only the Acceleration data (with lot of mess on accel valued during wheel action). Learned a lot from the video. Thanks
I guess im asking the wrong place but does any of you know a trick to get back into an instagram account?? I somehow forgot my account password. I appreciate any help you can give me
@Fletcher Elisha thanks for your reply. I found the site through google and I'm trying it out atm. Takes a while so I will reply here later when my account password hopefully is recovered.
You explanations and illustrations are very good. As are your videos ☺ I have had a gyro lying around for quite some time, but never really got to use it. Now it's time to get started. Thanks for the inspiration.
Thank you so much for this tutorial! It has helped me tremendously, and has also taught me how to communicate using the I2C protocol without a library!
GREAT VIDEO - i'm hooked! i've seen these calculations when I was working on a 2wheeled robot (inverted pendulum) and now I understand the principal a lot better. Russ from Coral Springs, Fl usa
I clicked the DONATE Button to support you., But THE JESUS WORDS You written SHOWS YOU ARE @ Different LEVEL., Love you brooooo., and your VIDEOS Are Awesome and VERY VERY Informative...!
thanks you for this tutorial it worked but i made some slight modifications to make it much simplier, if you use the mpu 6050 light library it calculates the angles for you and then you can just apply the filter from this tutorial
Nice video. One safety feature that is missing in all hobby autopilots, is the ability to guess-navigate without GPS, using gyro, accelerometer, and barometer only and by adding a pitch angle to airspeed function to the code. Current autopilots either autoland or return to China when they lose GPS input which isn't ideal. If the drift isn't too much, then it'll be possible to have the autopilot perform a RTH roughly to where it started, without GPS. Such code can be improved by making it learn it's own pitch vs airspeed in flight and calculate wind while it has a GPS signal.
Unfortunately, the drift is far far too much with these inexpensive (as in, less than $250,000.00) MEMS-based devices. First, you double integrate noise (tens of centimeters of drift per second). Then, with as little as one degree of error in your gravity estimate, the error in double integrations grows to tens of meters each second. This is an interesting talk, by an expert at Invensense (a leading manufacturer of these devices). He gets into the double integration problem, around the 24 minute mark.
Great work out of remarkable Knowledge. I started to build my own version with the help of your illustrations. On the other hand I think at min 4:14 it should be angular velocity , not angle_in_degrees
Hey! Another Great Video, Joop Brokking! I Just wanted to point out the formula you gave in 4:14 (angle_in_degrees = raw_gyro_output / 65.5). Shouldn't it be Angular_rate_in_degrees_per_second = raw_gyro_output / 65.5 ?
QUESTION here for everyone and also JOOP : if 1 degree per second = 65.5 and then in 1 min it should be 60 * 65.5= 3930, then how can you say in one min it is 6 *65= 393. how can there be 6 seconds in 1 min. please tell me. is this a mistake. 3:30
@@a..d2062 1 deg/sec gives a reading of 65.5. A full rotation(revolution) is 360 degrees. 1 minute is 60 seconds. Therefore, 1 deg/sec = 1/6 revolutions/minute (rpm). So, if 1/6 rpm gives a reading of 65.5 then 1 rpm should give a reading of 65.5*6 = 393.
Hi, Joop! Love your videos so much. Learn a lot from you. In this series, you mention that there are reasons why you would not use mpu6050. Can you explain some of the reason why?
Great video and a great starting point for beginners, really love it. I downloaded your sample code and I am wondering how you simulate the 250 Hz sampling rate. On the line 89 you are using delay(3) but I think it should be 4 as in 4 milliseconds. Then 1/4ms = 250 Hz. The comment on the line 172 also has 4 microseconds whereas it should be either 4 milliseconds or 4000 microseconds. Thought to let you know if you want to update your sample code. Anyway, great videos and tutorials, will definitely follow you. Thanks!
Wonderfull videos. Including the second part. A question: You mentioned that you don't use the MPU-6050 yourself "for various reasons" in your copter project. So my question would be: What do you use instead? Or what would be your recommendation/what are the reasons? And do you have info on where to find more in the interent on improving the code concerning the limitations mentioned in the second video: tilt of the copter leading to an acceleration in an angle? I also saw you recommend SPI ahead of I2C. too bad I currently got an MPU6050. Keep up the great tutorials. They are very interesting and helpful.
You mentioned that you don't use the 6050 on your flight computer. What were you using and was it due to the inaccuracies/noise of the 6050's accel? Trying to build an IMU project using 6050s to implement some form of IMU position tracking. Unfortunately, this is appearing to be really hard.
I do not understand how this drone or any other coaxial thrust vectoring control drone are being controlled after all the gyro imu is moving the servos from interrupt service routine. How the remote control signal overrides the imu or vice versa?
117: angle_pitch += gyro_x * 0.0000611; 118: angle_roll += gyro_y * 0.0000611; 121: angle_pitch += angle_roll * sin(gyro_z * 0.000001066); 122: angle_roll -= angle_pitch * sin(gyro_z * 0.000001066); there is one problem in the code, in 122 lines, the value of angle_pitch should be a value from 117 lines. The arduino code has a value of 121 lines. This is where the error accumulates. Thank you for code :)
QUESTION here for everyone and also JOOP : if 1 degree per second = 65.5 and then in 1 min it should be 60 * 65.5= 3930, then how can you say in one min it is 6 *65= 393. how can there be 6 seconds in 1 min. please tell me. is this a mistake. 3:30
Does measuring the trajectory of a turning plane only require a gyroscope or also an accelerometer? (for trajectory measurement and not that of pitching) THANKS
I am having issues with vibrational noise messing up my gyroscope data. I am running a basic complimentary filter @ 0.98 gyro and 0.02 accel data for my angles. How have you combated the vibrational noise from the motors spinning with the blades?
Hi, In this video (at 7:31) you said that the refresh rate is 250 Hz. In your video "YMFC-3D part 2" (at 2:13) you said : 250 Hz is the refresh rate of the controller. My question is : Where did you find this value ? I looked the datasheet of the Atmega328P, but I don't find it.
This is just a value that I used for the YMFC quadcopter flight controllers. You cant find it anywhere, it just because the loop time is 4000us. 1 / 4000us = 250Hz.
@@joshuawallace1065 QUESTION here for everyone and also JOOP : if 1 degree per second = 65.5 and then in 1 min it should be 60 * 65.5= 3930, then how can you say in one min it is 6 *65= 393. how can there be 6 seconds in 1 min. please tell me. is this a mistake. 3:30
@@a..d2062 The output of the gyro at any point in time is equal to deg/sec * 65.5. Your equation above says that the gyro is spinning at 60 deg/sec * 65.5 which is not the case. If the gyro takes one minute to rotate fully then it is spinning at a rate of 6 deg/s. The gyro only measures angular rate.
Why there is a problem when using the imu in more than 60 degrees? I want to try to find a solution to this but I don't know for what reason this problem happening. I tried to find an answer in the Q&A that you have in your website but didn't find any.
Hello dear sir. first i want to thank you a loooooooooooooooooooooot for these tutorials. im trying to implement your YMFC project but i do have problemes during the setup. Indeed, the program stops in the gyro calibration. Do you have any kind of help about that?
as always you are awesome !!!!!!!!! waiting for the part 2 and arduino code and its application in ymfc version 2 quadcopter........lots of love and respect...
I'm afraid that I have to disappoint you. This series is only about making an IMU, not how to implement it :-( Maybe I should start working on the video YMFC-stable........
I was hoping you would do that as well, I'm interested in the PID implementation. I've read up on using complementary filtering to use both the gyro and accelerometer data, but it would be awesome to see how you do it. I had kind of figured that you wanted to keep it under wraps.
U mentioned that u personally dont use mpu 6050..then what u actually use and if u mention those particular problem u faced with mpu6050 ....will be the last nail from this video. ....anyway. .great job.....😍
Good day Mr.Brokking , instead of using Gyro angle as it is, for auto leveling if the problem with drifting can be solved. eg : The setpoint says 0 , if you allow the gyro for a long time in the same position it will drift to another value, but if check the rate of change of the gyro in level should be '0' even though it drifts( according to my understanding the drift is uniform). do my understanding is correct ?
Instead of getting the outputs on the LCD display i want it in my serial monitor. What changes are expected? I have tried directly using Serial.print(angle_pitch_output) but the values change way too slowly. Can anyone help? Thank you.
Hello, thanks for your videos and all your work, I have a question about a signal of the mpu6050 in the montage with esc and brushless motot, the signal was good (the angle) but just the motor take on the mpu signal will be bad? ! I didn t understand why, I hope find some help and thanks for the second way
Many thanks Joop for such a comprehensive and helpful tutorial. Two questions, if you don't mind answering them: 1- Could you please explain what are the reasons you don't use MPU-6050 for your projects? 2- I got a Pololu AltIMU-10 v5 at about $23 US. After setting it up, the gyro is set to rest. Without accel-correcting term, the angles drift at a rate of about 0.16 deg/sec. i.e. about 1 deg of drift within each 6 sec. Do you think it is normal?
Hi Sir, Excellent video!!! You're saving my final project haha. I'd like to know, what software are you using to plot the sensor noisy data? Thanks from Brazil!!
Great video, explanations and code. I've been trying to get things working with an ESP32-wroom. Getting there. It's somewhat working. Thank you again. I see you've not made too many videos recently. Are you taking a break?
Hi Joop, Thanks for your awesome video! I found a problem when i run this code. I found this code to have a long response time. For example, when i change the pitch angle to 45 degree in a second, the output_angle increased very slowly, almost cost 1 minutes. So how did you solve this question?
hi really nice project. I have uploaded the same code on my arduino but I have problem with the experiment on 10:10 when I'm turning the mpu6050 both pitch and roll changing please help me thanks
Thanks for this great video, Joop. This is the best tutorial I've found for my project. Does the angular motion at 3:08 read the raw data integers as negative for CCW rotation?
Hi Joop, I have watched part 1 and part 2 several times but there is something that I can't understand. How did you solve the Gimbal lock problem. I know that hierarchy of the Gimbal is important. If the parenting combination is YZX or YXZ the gimbal lock can be avoided with maximum rating, but therefore you have to first rotate your yaw and afterwards you roll / pitch. If the parenting combination is ZYX, ZXY, XYZ or XZY there is a case of gimbal lock. This has to be solved with quaternion. Could you explain me how you solved this problem?
Hi Joop, first of all, thanks for the amazing tutorials and also for the so well commented code! Well, i just read your code for this IMU and did not understood the complementary filter that you used. Two variables you've declared seems not have been initialized on any part of the code but you still used them as follows. Could you please clear that for me? And very sorry for the bothering. *angle_pitch_output* = angle_pitch_output * 0.9 + angle_pitch * 0.1; *angle_roll_output* = angle_roll_output * 0.9 + angle_roll * 0.1;
Hi Joop, when I compiled your program, I got an error massage saying that C" no matching function for call to Liquied crystal _12_: :begin. As far as I know, I have instaled a librery called liquid crysta. What else can I do to correct this error?
@Joop Brokking, thanks for your all videos! in this video on copter you use "cheep" motors2212 1000kv , is that good motors,have a problem , is it stable ? thanks
This video was so well researched, I found it very useful. I had already integrated the rate angle readings to get an angle, but I had not considered the problem shown at 10:00. Thanks.
Such a fabulous engineer! I am in france am studying engineering. And this year I wanted to build my own quadcopter. Thanks for your videos
Superb, I've checked out a lot of tutorials for MPU-6050 and your video is the best tutorial on the internet on this module. Thank you so much!
Great videos, I stopped by after finding your arduino/PID video. Here I set hours later still watching your channel. I wanted some basic PID understanding for a small rc car control demo, now I just want to scrap the car and go straight to quad. Way to promote your sport and hobby. Well done!
Great to hear and have fun building. Don't forget to check my channel for additional information about the YMFC-3D version 2 quad: www.brokking.net/ymfc-3d_v2_qanda.html
to describe your explanation as good will be insulting, because it is very good , danke !!!
The best tutorial about MPU-6050 / MPU-9250
Great job! I think MPU6050 is one of the most extended IMU in market as you said. This explanations will help us a lot for understanding the basics about auto-leveling. Waiting for code!
@7:51 how does "Z-axis/250/65.5 translate to Z-axis * 0.0000611" .... that answer is possible if you divide z-axis / 0.004 / 65.5..... so which is the right and which is wrong? did you mean to write 0.004 instead of 250 , or is the 250 correct and the real answer is not 0.0000611?
Your video is absolutely the best on MPU-6050 tutorial! Crystal clear and inspiring! Thanks so much!
Yes, it's indeed becoming fun now. Good fun! And this all while we are getting uducated by Joop. I really enjoyed the maths during the video. Thank you Joop.
Graag gedaan ;-)
@@Joop_Brokking QUESTION here for everyone and also JOOP : if 1 degree per second = 65.5 and then in 1 min it should be 60 * 65.5= 3930, then how can you say in one min it is 6 *65= 393. how can there be 6 seconds in 1 min. please tell me. is this a mistake. 3:30
@@a..d2062 Full turn (360°) in 1 minute (60s) means that angular velocity is 360° / 60s = 6°/s
Hi I'm in 12th grade and I am really happy to see what I studied last couple of years is very useful in technology after 7 years 😊
Very educational video (for me). I was trying a two wheel self-balancing model using only the Acceleration data (with lot of mess on accel valued during wheel action). Learned a lot from the video. Thanks
You are an amazing teacher, thank you for all the time and effort you are putting in these videos! wow
I guess im asking the wrong place but does any of you know a trick to get back into an instagram account??
I somehow forgot my account password. I appreciate any help you can give me
@Griffin Patrick instablaster :)
@Fletcher Elisha thanks for your reply. I found the site through google and I'm trying it out atm.
Takes a while so I will reply here later when my account password hopefully is recovered.
@Fletcher Elisha It did the trick and I actually got access to my account again. Im so happy:D
Thank you so much, you really help me out !
@Griffin Patrick no problem :)
Still teaching us dummies. You are a legend!!
hey Joop, is it possible to use the Serial monitor instead of the LCD display ?
unrated channel , you deserve more
You explanations and illustrations are very good. As are your videos ☺
I have had a gyro lying around for quite some time, but never really got to use it. Now it's time to get started.
Thanks for the inspiration.
Thank you so much for this tutorial! It has helped me tremendously, and has also taught me how to communicate using the I2C protocol without a library!
GREAT VIDEO - i'm hooked! i've seen these calculations when I was working on a 2wheeled robot (inverted pendulum) and now I understand the principal a lot better.
Russ from Coral Springs, Fl usa
Best video I watched about this topic. Thx
I clicked the DONATE Button to support you., But THE JESUS WORDS You written SHOWS YOU ARE @ Different LEVEL., Love you brooooo., and your VIDEOS Are Awesome and VERY VERY Informative...!
thanks you for this tutorial it worked but i made some slight modifications to make it much simplier, if you use the mpu 6050 light library it calculates the angles for you and then you can just apply the filter from this tutorial
The best part of this video is angle shifting . It's really very tricky
Very good and easy to understand explanation! I'm already looking forward to seeing part 2 :)
the best channel i have seen ever
I'm very impressed with your channel. Thanks, for such a detailed description. Your projects are great
Nice video.
One safety feature that is missing in all hobby autopilots, is the ability to guess-navigate without GPS, using gyro, accelerometer, and barometer only and by adding a pitch angle to airspeed function to the code. Current autopilots either autoland or return to China when they lose GPS input which isn't ideal. If the drift isn't too much, then it'll be possible to have the autopilot perform a RTH roughly to where it started, without GPS. Such code can be improved by making it learn it's own pitch vs airspeed in flight and calculate wind while it has a GPS signal.
Unfortunately, the drift is far far too much with these inexpensive (as in, less than $250,000.00) MEMS-based devices. First, you double integrate noise (tens of centimeters of drift per second). Then, with as little as one degree of error in your gravity estimate, the error in double integrations grows to tens of meters each second.
This is an interesting talk, by an expert at Invensense (a leading manufacturer of these devices). He gets into the double integration problem, around the 24 minute mark.
+stephmon This sounds very interesting, could you link to the talk?
Perfect explanation even for laymen. You could maybe add links to further study materials for those, that want to know more about this topic.
please keep making these videos. thay are so awsome. you must be a professor
Awesome video! This something i've always wanted to understand in that kind of detail, thanks!
Man I love Joop's videos.
Thanks for the code! I plan to use this to check the leveling of my RV and maybe auto level in the future.
Thank you very much for these very well made video.
Keep up the good work
is there a way to tweak the code to control 4 BRUSHED motors? i have been studying the code and have some ideas
Awesome video, very easy to follow your teaching. Thanks for your efforts!
After 5 years, I am still not able to build my own drone. I am serious this time. Thank you
Great work out of remarkable Knowledge. I started to build my own version with the help of your illustrations. On the other hand I think at min 4:14 it should be angular velocity , not angle_in_degrees
Fantastic video. Never seen such kind of explanation.
wow, thank you so much for this, you have saved me days of work figuring it out
GREAT VIDEO! Concise and a lot of fun to watch.
you have a good voice i was able to concentrate on what you were saying.
hey my question is how can we select 259Hz frequency why we don't select an other
angle roll -= angle pitch *sin (yaw angle)
can someone tell me if this is theoretically near correct? will studying euler angle solve my question?
12:24
im confused
the sin function needs an input in radians, but it also outputs a radian, so dont we need to convert it back to degrees?
Hi. Can you tell me how to calculate the yaw angle
You make me laugh and understand at the same time👍
Good job.could just give us some tips to get yaw readings please?
Please check this video for more information about the yaw implementation: ruclips.net/video/vPGChdmfKl0/видео.html
Hey! Another Great Video, Joop Brokking! I Just wanted to point out the formula you gave in 4:14 (angle_in_degrees = raw_gyro_output / 65.5). Shouldn't it be Angular_rate_in_degrees_per_second = raw_gyro_output / 65.5 ?
QUESTION here for everyone and also JOOP : if 1 degree per second = 65.5 and then in 1 min it should be 60 * 65.5= 3930, then how can you say in one min it is 6 *65= 393. how can there be 6 seconds in 1 min. please tell me. is this a mistake. 3:30
@@a..d2062 1 deg/sec gives a reading of 65.5. A full rotation(revolution) is 360 degrees. 1 minute is 60 seconds. Therefore, 1 deg/sec = 1/6 revolutions/minute (rpm). So, if 1/6 rpm gives a reading of 65.5 then 1 rpm should give a reading of 65.5*6 = 393.
Omg. I love your explanation
I figured out the board. I am now wondering how you do the wiring here?
Very interresting and inspiring! Even though it is sometimes hard to get it all in my head.
Ziet er iig goed uit. Erg leerzaam! Dank je!!
Hi, Joop! Love your videos so much. Learn a lot from you. In this series, you mention that there are reasons why you would not use mpu6050. Can you explain some of the reason why?
Very nice detailed explanation. Thanks for sharing.
Great video and a great starting point for beginners, really love it. I downloaded your sample code and I am wondering how you simulate the 250 Hz sampling rate. On the line 89 you are using delay(3) but I think it should be 4 as in 4 milliseconds. Then 1/4ms = 250 Hz. The comment on the line 172 also has 4 microseconds whereas it should be either 4 milliseconds or 4000 microseconds. Thought to let you know if you want to update your sample code. Anyway, great videos and tutorials, will definitely follow you. Thanks!
very nice video! Im alreay waiting for the next one!
Where you can get the code for calculating a simple angle just as at 9:00 ?
Great stuff.
Looking forward to part 2.
from where did you get the formula and relation between the roll and the pitch
Wonderfull videos. Including the second part.
A question: You mentioned that you don't use the MPU-6050 yourself "for various reasons" in your copter project. So my question would be:
What do you use instead? Or what would be your recommendation/what are the reasons?
And do you have info on where to find more in the interent on improving the code concerning the limitations mentioned in the second video: tilt of the copter leading to an acceleration in an angle?
I also saw you recommend SPI ahead of I2C. too bad I currently got an MPU6050.
Keep up the great tutorials. They are very interesting and helpful.
You mentioned that you don't use the 6050 on your flight computer. What were you using and was it due to the inaccuracies/noise of the 6050's accel? Trying to build an IMU project using 6050s to implement some form of IMU position tracking. Unfortunately, this is appearing to be really hard.
I do not understand how this drone or any other coaxial thrust vectoring control drone are being controlled after all the gyro imu is moving the servos from interrupt service routine. How the remote control signal overrides the imu or vice versa?
117: angle_pitch += gyro_x * 0.0000611;
118: angle_roll += gyro_y * 0.0000611;
121: angle_pitch += angle_roll * sin(gyro_z * 0.000001066);
122: angle_roll -= angle_pitch * sin(gyro_z * 0.000001066);
there is one problem in the code, in 122 lines, the value of angle_pitch should be a value from 117 lines. The arduino code has a value of 121 lines. This is where the error accumulates.
Thank you for code :)
QUESTION here for everyone and also JOOP : if 1 degree per second = 65.5 and then in 1 min it should be 60 * 65.5= 3930, then how can you say in one min it is 6 *65= 393. how can there be 6 seconds in 1 min. please tell me. is this a mistake. 3:30
What are the sizes of the drone and propellers you are using? Please also share the kv rating of the motor u are using
Please turn on the "CC" in the right bottom corner in all your clips.
WOW!!! Such great explanations.
This is awesome!! Thank you for sharing your knowledge!!
Does measuring the trajectory of a turning plane only require a gyroscope or also an accelerometer? (for trajectory measurement and not that of pitching)
THANKS
I am having issues with vibrational noise messing up my gyroscope data. I am running a basic complimentary filter @ 0.98 gyro and 0.02 accel data for my angles. How have you combated the vibrational noise from the motors spinning with the blades?
thank you for all videos, would you please share with us the reason for not using the mpu 6050 in your flight controller, thanks in advance
6050 in flight controllers acted up and seemed worse than the 6000, so the 6000 is always preferred
Hi,
In this video (at 7:31) you said that the refresh rate is 250 Hz. In your video "YMFC-3D part 2" (at 2:13) you said : 250 Hz is the refresh rate of the controller.
My question is : Where did you find this value ?
I looked the datasheet of the Atmega328P, but I don't find it.
This is just a value that I used for the YMFC quadcopter flight controllers. You cant find it anywhere, it just because the loop time is 4000us. 1 / 4000us = 250Hz.
thanks alot i understand why my drone isn't very stable. so i must always use manual drone. thanks alot
Hey Joop, Thank you so much for the video. I was wondering what Arduino shield you used at 2:07.
Cheers,
Josh
Gikfun Proto Shield Gold Print Board Diy Kit for Arduino UNO R3 Mega 1280 2560 328P (Pack of 3 Sets) GK1089
@@joshuawallace1065 QUESTION here for everyone and also JOOP : if 1 degree per second = 65.5 and then in 1 min it should be 60 * 65.5= 3930, then how can you say in one min it is 6 *65= 393. how can there be 6 seconds in 1 min. please tell me. is this a mistake. 3:30
@@a..d2062 The output of the gyro at any point in time is equal to deg/sec * 65.5. Your equation above says that the gyro is spinning at 60 deg/sec * 65.5 which is not the case. If the gyro takes one minute to rotate fully then it is spinning at a rate of 6 deg/s. The gyro only measures angular rate.
@@joshuawallace1065 I think it may be his wording in his video, its throwing me off. Thank you
@@a..d2062 Np
Why there is a problem when using the imu in more than 60 degrees? I want to try to find a solution to this but I don't know for what reason this problem happening. I tried to find an answer in the Q&A that you have in your website but didn't find any.
What do you mean by the refresh rate of controller?
Hello dear sir. first i want to thank you a loooooooooooooooooooooot for these tutorials. im trying to implement your YMFC project but i do have problemes during the setup.
Indeed, the program stops in the gyro calibration. Do you have any kind of help about that?
as always you are awesome !!!!!!!!! waiting for the part 2 and arduino code and its application in ymfc version 2 quadcopter........lots of love and respect...
I'm afraid that I have to disappoint you. This series is only about making an IMU, not how to implement it :-( Maybe I should start working on the video YMFC-stable........
I was hoping you would do that as well, I'm interested in the PID implementation. I've read up on using complementary filtering to use both the gyro and accelerometer data, but it would be awesome to see how you do it. I had kind of figured that you wanted to keep it under wraps.
If I attach a ruler scale with MPU6050, will it give me 100% accurate angle while installing LCD TV panel on wall in house?
U mentioned that u personally dont use mpu 6050..then what u actually use and if u mention those particular problem u faced with mpu6050 ....will be the last nail from this video. ....anyway. .great job.....😍
Sir, This is an awesome implementation. What is the method that you used to real-time graphing at 6.14?
Good day Mr.Brokking , instead of using Gyro angle as it is, for auto leveling if the problem with drifting can be solved. eg : The setpoint says 0 , if you allow the gyro for a long time in the same position it will drift to another value, but if check the rate of change of the gyro in level should be '0' even though it drifts( according to my understanding the drift is uniform). do my understanding is correct ?
Instead of getting the outputs on the LCD display i want it in my serial monitor.
What changes are expected?
I have tried directly using Serial.print(angle_pitch_output) but the values change way too slowly.
Can anyone help?
Thank you.
Do you have any opinion on using 9DOF IMU for the AL quadcopter??
good video, it helped me a lot. would it be the same with the mpu9250 sensor?
Besides 5V and GND, what are the other 2 pins on the LCD display that the white and grey wires are connected to?
Hello, thanks for your videos and all your work, I have a question about a signal of the mpu6050 in the montage with esc and brushless motot, the signal was good (the angle) but just the motor take on the mpu signal will be bad? ! I didn t understand why, I hope find some help and thanks for the second way
Many thanks Joop for such a comprehensive and helpful tutorial. Two questions, if you don't mind answering them:
1- Could you please explain what are the reasons you don't use MPU-6050 for your projects?
2- I got a Pololu AltIMU-10 v5 at about $23 US. After setting it up, the gyro is set to rest. Without accel-correcting term, the angles drift at a rate of about 0.16 deg/sec. i.e. about 1 deg of drift within each 6 sec. Do you think it is normal?
Hi Sir, Excellent video!!! You're saving my final project haha. I'd like to know, what software are you using to plot the sensor noisy data?
Thanks from Brazil!!
Great video, explanations and code. I've been trying to get things working with an ESP32-wroom. Getting there. It's somewhat working. Thank you again. I see you've not made too many videos recently. Are you taking a break?
what is refresh rate at 7:32
I don't understand where you get 250hz as the refresh rate. Is that something you find in the data sheet?
Hello, great video I am just not sure where you are getting the 250 Hz value
That must be the frequency of the loop he has his microcontroller set to run at. The time between imu reading is 4ms or 250hz.
Hi Joop, Thanks for your awesome video! I found a problem when i run this code. I found this code to have a long response time. For example, when i change the pitch angle to 45 degree in a second, the output_angle increased very slowly, almost cost 1 minutes. So how did you solve this question?
hi really nice project.
I have uploaded the same code on my arduino but I have problem with the experiment on 10:10 when I'm turning the mpu6050 both pitch and roll changing please help me
thanks
Thanks for this great video, Joop. This is the best tutorial I've found for my project. Does the angular motion at 3:08 read the raw data integers as negative for CCW rotation?
Yes
Hi Joop, I have watched part 1 and part 2 several times but there is something that I can't understand. How did you solve the Gimbal lock problem. I know that hierarchy of the Gimbal is important. If the parenting combination is YZX or YXZ the gimbal lock can be avoided with maximum rating, but therefore you have to first rotate your yaw and afterwards you roll / pitch. If the parenting combination is ZYX, ZXY, XYZ or XZY there is a case of gimbal lock. This has to be solved with quaternion. Could you explain me how you solved this problem?
Can you teach external kalman filters !!!!
Hi Joop, first of all, thanks for the amazing tutorials and also for the so well commented code! Well, i just read your code for this IMU and did not understood the complementary filter that you used. Two variables you've declared seems not have been initialized on any part of the code but you still used them as follows. Could you please clear that for me? And very sorry for the bothering.
*angle_pitch_output* = angle_pitch_output * 0.9 + angle_pitch * 0.1;
*angle_roll_output* = angle_roll_output * 0.9 + angle_roll * 0.1;
Hi Joop, when I compiled your program, I got an error massage saying that C" no matching function for call to Liquied crystal _12_: :begin. As far as I know, I have instaled a librery called liquid crysta. What else can I do to correct this error?
Where does the number "0.0000166" at 11:56 come from? thank you!!
@Joop Brokking, thanks for your all videos! in this video on copter you use "cheep" motors2212 1000kv , is that good motors,have a problem , is it stable ? thanks
The motors are from DJI and perform very well. Especially the new version.