Update mpu6050driver.cpp

[JosefGst]

the called parameter to calc the duration should be "frequency"

[JosefGst]

Sorry, I actually only want to commit 'Update mpu6050driver.cpp'. the other commits are only specific to my usecase

[leeyunhome]

Hello, @JosefGst @hiwad-aziz

Thank you for your nice article
I have some questions.

1. What is the license for this library?
2. I want to get angles like below url.
   url : https://github.com/tockn/MPU6050_tockn
   How can I get angles using this mpu6050driver?
3. Can I substitute sensor_msgs::msg::Imu to custom msg?
   like below.
   builtin_interfaces/Time stamp int16 accx int16 accy int16 accz int16 gyrx int16 gyry int16 gyrz float32 angx float32 angy float32 angz

Thank you very much.

[JosefGst]

hello @leeyunhome

1. IDK
2. the angles are not implemented in the code yet. you may need to integrate all the angular velocities and devide over time.
3. Is it you want to get all the accel data?

[leeyunhome]

Hello,

Thank you for your answer.

you may need to integrate all the angular velocities and devide over time.
=> I'm a beginner, so I'm not sure if I just read the description.
Could you please explain it in simple pseudo code?

Let me explain what I think

In the project I referenced above (https://github.com/tockn/MPU6050_tockn)

The angle was calculated with the raw data as shown below.
Is the calculation process below correct? Is the interval here the time multiplied by the angular velocity?

` rawAccX = wire->read() << 8 | wire->read();
rawAccY = wire->read() << 8 | wire->read();
rawAccZ = wire->read() << 8 | wire->read();
rawTemp = wire->read() << 8 | wire->read();
rawGyroX = wire->read() << 8 | wire->read();
rawGyroY = wire->read() << 8 | wire->read();
rawGyroZ = wire->read() << 8 | wire->read();

temp = (rawTemp + 12412.0) / 340.0;

accX = ((float)rawAccX) / 16384.0;
accY = ((float)rawAccY) / 16384.0;
accZ = ((float)rawAccZ) / 16384.0;

angleAccX = atan2(accY, sqrt(accZ * accZ + accX * accX)) * 360 / 2.0 / PI;
angleAccY = atan2(accX, sqrt(accZ * accZ + accY * accY)) * 360 / -2.0 / PI;

gyroX = ((float)rawGyroX) / 65.5;
gyroY = ((float)rawGyroY) / 65.5;
gyroZ = ((float)rawGyroZ) / 65.5;

gyroX -= gyroXoffset;
gyroY -= gyroYoffset;
gyroZ -= gyroZoffset;

interval = (millis() - preInterval) * 0.001;

angleGyroX += gyroX * interval;
angleGyroY += gyroY * interval;
angleGyroZ += gyroZ * interval;

angleX = (gyroCoef * (angleX + gyroX * interval)) + (accCoef * angleAccX);
angleY = (gyroCoef * (angleY + gyroY * interval)) + (accCoef * angleAccY);
angleZ = angleGyroZ;`

Thank you.