ESP32 / MPU6050 network based gyro using coap and the builtin MotionApps 6.12

signalfade · July 2, 2022, 4:44pm

Details:

ESP32 (over wifi for now, ethernet soon)
MPU6050 w 6.12 firmware
coap protocol (UDP)
msgpack data serialization
using built in MPU
Client side was a test python program.

Average time to fetch and decode - 12ms
Standard deviation of yaw data : .037 degrees (sitting still)

signalfade · July 2, 2022, 4:55pm

Cost
$3 for MPU6050
$16 ESP32 w Ethernet (not shown)

asid61 · July 2, 2022, 10:28pm

Do you have a plot of drift in yaw vs time when sitting still? Are you planning on testing this on a mobile platform?

signalfade · July 2, 2022, 11:20pm

Second plot is yaw over time. In 85 seconds the min was -10.2545291 and max was -10.04096214

Arduino library for the MPU6050

github.com

jrowberg/i2cdevlib/blob/master/Arduino/MPU6050/examples/MPU6050_DMP6_using_DMP_V6.12/MPU6050_DMP6_using_DMP_V6.12.ino

// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v6.12)
// 6/21/2012 by Jeff Rowberg <[email protected]>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
//      2019-07-10 - Uses the new version of the DMP Firmware V6.12
//                 - Note: I believe the Teapot demo is broken with this versin as
//                 - the fifo buffer structure has changed
//      2016-04-18 - Eliminated a potential infinite loop
//      2013-05-08 - added seamless Fastwire support
//                 - added note about gyro calibration
//      2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error
//      2012-06-20 - improved FIFO overflow handling and simplified read process
//      2012-06-19 - completely rearranged DMP initialization code and simplification
//      2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly
//      2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING
//      2012-06-05 - add gravity-compensated initial reference frame acceleration output
//                 - add 3D math helper file to DMP6 example sketch
//                 - add Euler output and Yaw/Pitch/Roll output formats
//      2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee)

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The point was mostly about the ethernet being viable. If the gyro isnt good enough a different one can be used.

coap is UDP and each request/response fits within an ethernet frame.

system · July 2, 2023, 11:20pm

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