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)
$3 for MPU6050
$16 ESP32 w Ethernet (not shown)
Do you have a plot of drift in yaw vs time when sitting still? Are you planning on testing this on a mobile platform?
Second plot is yaw over time. In 85 seconds the min was -10.2545291 and max was -10.04096214
Arduino library for the MPU6050
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.
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