Lightweight, fast and simple library to communicate with the MPU6050
⬇️ The source code is available at https://github.com/lyubomyrk/MPU6050_light_pico
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The library is made to retrieve accelerometer and gyroscope measurements from the MPU6050. This data is processed using a complementary filter to provide and estimation of tilt angles on X and Y with respect to the horizontal frame. The hypothesis for the validity of these angles are:
- small linear accelerations (the gravity is the dominant one)
- small loop delay between two calls to
update()so the approximationangle[t]=angle[t-1]+gyro*dtis valid - heading (angle Z) is valid for small X and Y angles
A documentation PDF is provided within the library folder, otherwise get it online at https://github.com/rfetick/MPU6050_light. It includes definitions of the functions and gives a minimal example of usage of the code.
Additionaly, look into the main.cpp file for an example of how to use the library.
See the LICENSE file
lyubomyrk : ported to pico using the SDK.
rfetick : modifications for better memory management, speed and efficiency.
tockn : initial author of the library (v1.5.2)
The library has also been improved thanks to the comments of edgar-bonet and augustosc