MPU6050 sampler

About

This repos contains calibration and compensation software, providing sampling of the MPU6050 accelerometer on a Raspberry Pi platform. It assumes the MPU6050 is on the I2C bus.

Calibration procedure

1. Collect some data using the calib-collect.py. It collects NPOINTS=1000 datapoints and ouputs to stdout the average and std dev.
2. Run the callibration solver in calib-solver.py, which solves the following optimization problem for N datapoints:

minimize (z - A.u - b)^2 w.r.t. A(3x3), b(3),V(3xN-1) s.t. ||ui||^2=1, u=[g | V] where z is a 3xN matrix of acceleration measurements,

Author

Rodrigo Ventura [email protected]