MPU6050 - Why is my gyro integration incorrect?

Question

My situation:

• I am able to communicate over i2c with my MPU6050 IMU
• I can get accelerometer and gyro data
• I can compute the sensor's orientation using my accelerometer

Issue:

• when trying to compute the sensor's orientation using my gyroscope my values seem to be totally incorrect. I am computing the orientation using a complementary filter.

This is the code I use https://paste.ubuntu.com/p/vZmbnc23gj/

This is the computed orientation, when the sensor is lying on a table: https:https://paste.ubuntu.com/p/W7DzVKR9c7/ Those measurements are totally incorrect, because when moving the senor randomly around its axis it never goes above 1.8. (even when I do an 180 degree turn)

Could somebody give me some hints or explanation on why my results are incorrect and drifting so much?

• Wendall: Could you post a schematic of your connections? I understand you can communicate with it, but am interested in what you have.
• traducerad: @Wendall connection, are just typical "i2c connection" without pull ups

Answer 1

You need to perform offset calibration, otherwise you'll get large drift errors. The MPU6050 has a dedicated Digital Motion Processor (DMP) where data from the gyro and accelerometer are fused for you. I recommend grabbing the results of that fusion from the DMP. As far as I know the only libraries that do this are ones based on Jeff Rowberg's work. For a detailed guide please see:

https://youtu.be/k5i-vE5rZR0