CalibrateMPU6050
Calibrate MPU6050 procedure
Setup
- Copy the folders from libraries/ to your Arduino IDE workspace libraries folder
- Compile and Run in Arduino IDE
How to use
- For the first 180 seconds, the Calibration procedure is in WARM-UP mode.
- After 180 seconds, the procedure adjusts the offset value to satisfy the sensor reading to expected value.
- By observing the offset values, the mean of sensor readings and the standard deviation in Serial Monitor, pick the offset values when they become stable.
- Use the offset value in your program as below:
#include "I2Cdev.h"
#include "MPU6050.h"
#include "Wire.h"
#define MPU6050_ACCEL_OFFSET_X -773
#define MPU6050_ACCEL_OFFSET_Y 3278
#define MPU6050_ACCEL_OFFSET_Z 1660
#define MPU6050_GYRO_OFFSET_X -24
#define MPU6050_GYRO_OFFSET_Y -62
#define MPU6050_GYRO_OFFSET_Z -6
MPU6050 mpu;
void setup() {
Wire.begin();
mpu.initialize();
mpu.setXAccelOffset(MPU6050_ACCEL_OFFSET_X);
mpu.setYAccelOffset(MPU6050_ACCEL_OFFSET_Y);
mpu.setZAccelOffset(MPU6050_ACCEL_OFFSET_Z);
mpu.setXGyroOffset(MPU6050_GYRO_OFFSET_X);
mpu.setYGyroOffset(MPU6050_GYRO_OFFSET_Y);
mpu.setZGyroOffset(MPU6050_GYRO_OFFSET_Z);
}
void loop() {
}