Hi I'm trying to figure out how to use the MPU-6000, I'm reading your source code and I don't see anything about using the DMP
I've also looked at the ArduPilotMega 2.0 repo, found the code for the MPU-6000, but it also does not do anything with the DMP
I understand there's a supposed to be a bit of code that loads a block of instructions into memory banks inside the MPU-60x0, and then the FIFO outputs quaternion data. I do not see any of these elements in "ArduIMU328_V3" or "AP_InertialSensor_MPU6000.cpp"
Can I please see the code to use the DMP?
Replies
MPU-9150 9-DoF DMP Board:
MPU-9150 MotionFit Wireless SDK $199.00
MPU-6050 9-DoF DMP Compatible Compass:
AK8975
MPU-6050 6-DoF DMP Sensor Fusion Arduino Sketch:
https://github.com/jrowberg/i2cdevlib/blob/master/Arduino/MPU6050/E...
Reasonable sounding explanation for the way Invensense has been handling this:
[quote="sectionsbest"]The only way we would be able to support a compass independent 9-axis quaternion would be if the user took the responsibility of generating calibrated compass data and feed it into the library.
Every user has his own preference for choosing his compass and calibrating a compass is very specific to the individual compass vendor design and since InvenSense doesn’t make the compass it is not possible to support all the other compass nuances.
In order to deliver a higher performance, we see such a library would have to be designed to take the 6-axis quaternion coming out of the DMP and do the compass data integration on the MCU. Typically compass is sampled
at a much lower data rate than gyro and accel, and we don’t expect this to burden the MCU much at all. This is one of the proposals being considered for implementation and should be available in the future. Unfortunately we don’t have a fixed timeline we can commit to as it is in planning phase as we speak.[/quote]
The above data was the product of my research on the state of this issue. I've been waiting patiently for this issue to resolve itself, and thanks to the efforts of Jeff Rowberg, my needs for this chip have been essentially met. I empathize with the frustrations of those in this thread, and in the developers corner for InvenSense's handling of this issue.
Some people may be interested in abandoning ship and going iNemo, I'm probably going to just rock Jeff Rowberg's code on the ArduIMU V3 for now until the MPU9150 gets more traction up-hill on Mt. "Shotmyselfinthefootandpissedoffallofmycustomers".
I am also waiting this code