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Questions tagged [imu]

IMU is an abbreviation for Inertial Measurement Unit, a system composed of three orthogonally mounted accelerometers and three orthogonally mounted gyroscopes, which may be used as the basis for inertial navigation systems, orientation measurement systems, or platform stabilization systems.

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360 degree angle measurement using MPU6050

This is the first time I am working with PMU6050 sensor to detect the tilt angle of the PCB. I have read as much as possible and could get it working up to a certain level. Now the code measures the ...
Rakesh Mehta's user avatar
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How to Decode Quaternion Data from LSM6DSV16X IMU Sensor FIFO?

I'm working with the LSM6DSV16X IMU sensor, which comes with a Sensor Fusion Low-Power (SFLP) algorithm providing a 6-axis game rotation vector (quaternion) stored directly in the FIFO. The datasheet ...
Lister Remmir's user avatar
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Why I am unable to join these two code ESP32 and ICM42688

I have two sepparate codes, one is to interface ICM42688 to implement a shake to wake feature while ESP is in deep sleep, the other one is to force sleep or wake esp32. Those two works fine when ...
Domenico's user avatar
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How to detect trajectory of an object using IMU sensor data?

I'm playing with an idea of putting Arduino microcontroller and IMU sensor inside of a ball in order to measure the trajectory and speed of the ball and also determine when it's not in motion. Any ...
Suyash's user avatar
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Calculating Yaw from Relative position of 2 accelerometers

First of all, apologies for the length. I'm building a drone and have come across the issue of a 6 degree IMU being unable to calculate a sufficiently stable yaw number on it's own. The normal ...
MikeB's user avatar
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I can't find a register list or figure to explain MPU6050 I2C communication

I'm working on getting an STM32F411 NUCLEO board to communicate with an MPU6050 IMU breakout board, but I've run into an early snag, in that I can't find the list of registers needed to request data ...
Anonymaton's user avatar
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105 views

Getting bank and heading angles from 6DOF IMU fusion

I have an Arduino-based electronic musical instrument where I'd like to know the bank angle φ and heading angle ψ as shown in this diagram from Wikipedia (Euler angle article): The sensor fusion ...
Andrew Mowry's user avatar
3 votes
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148 views

Looks like new IMUs doesn't have integrated magnetometers. How to reorient IMU without magnetometer?

I was searching for some replacement for the old MPU6050, and when I finally thought of ordering ICM-42688-P, I figured out it doesn't have a magnetometer. Strangely enough, ICM-20948 had a ...
Domenico's user avatar
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Simulating Gyroscope with ARW, BI, and Spectral Density Using Physical IMU Data

I'm currently working on a state estimation project that relies on IMU data. While I have access to a physical IMU, I'd like to simulate gyroscope data with specific parameters, including Angle Random ...
user3106378's user avatar
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LSM6DS3 gyro raw to degrees per second conversion error

I am using LSM6DS3 for one of my projects with Nordic nrf52840 along with Nordic SDK. I am trying to read the gyroscope and according to my understanding the gyroscope value should not exceed the full ...
EngineeringArtist's user avatar
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LSMDS3 accelerometer and gyroscope sensor returns register addresses instead of values on most registers

I use an LSM6DS3 IMU sensor to detect acceleration and turn rates in 3 Dimensions. I can read the WHOAMI and the measurement value registers. I get correct readings that change in the expected manner ...
vallum's user avatar
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112 views

Gyroscope dps conversion

I am doing a data collection using an Axivity AX6 IMU equipped with an accelerometer and gyroscope (BMI160). I am using the OMGUI software to start the collection where I can choose between different ...
Hazar's user avatar
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48 views

Experiencing Much Higher Data Rate than Timer Interrupt Settings While Reading IMU Data via I2C on Arduino

I am currently using an Arduino MKR ZERO to gather IMU data from three MKR IMU SHIELD boards(BNO055 IMU). I have utilized the <Adafruit_ZeroTimer.h> library to set a timer interrupt with a ...
JING's user avatar
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Trouble communicating with ICM-20948 IMU over I2C

My setup: I'm trying to communicate with an ICM-20948 IMU over I2C with a Raspberry Pi Pico, and writing C++ with Visual Studio Code. I have started with the Sparkfun Arduino library for this chip, ...
Rocketmagnet's user avatar
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WT901 How to make sense of Euler angle

I'm trying to make an angle sensor using the WT901 Attitude Angle Sensor All I'm looking for is the angle of gravity relative to the Z axis of the device (which I believe is normal to the PCB surface)....
Drew's user avatar
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Why does IMU acceleration bias increase with increase in acceleration?

I am trying to estimate the wheel speed scale factor of a vehicle. I find that whenever the vehicle accelerates rapidly,the estimated speed is lower than the true speed. In other words, I see bias in ...
user146290's user avatar
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297 views

Converting accelerometer readings to center of IMU

I recently purchased 3 single axis accelerometers for tracking acceleration of a vehicle. I have used a box like structure to mount each accelerometer orthogonal to each other ( As much as possible) ...
Akash Sagar's user avatar
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2 answers
224 views

How do I select whether the LSM6DSOX IMU Sensor uses it's SPI or I2C Interface

I am trying to use the LSM6DSOX IMU sensor which has both an SPI and an I2C interface which are mapped to the same pins. I want to address the IC using its SPI interface (Datasheet for reference) In ...
Reewen's user avatar
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Tilt Compensated Compass Calibration Issue

I implemented a tilt-compensated compass using an NXP semiconductor app note link: App Note and hard iron calibration algorithm using Article. I am using LIS3MDL magnetometer chip in my design. I also ...
HumbleBumble's user avatar
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3 answers
1k views

Why new/recommended MEMS IMU for AHRS for drones are 6-DOF instead of 9-DOF?

I'm developing an quadcopter as an DIY project. I'm in nascent stage of development. I've just finalized the design/working philosophy. I'm planning to fuse data from 9-DOF (9-Axes) IMU + GNSS + ...
Dark Sorrow's user avatar
8 votes
3 answers
2k views

Do MEMS or optical gyroscope record Earth's rotational and revolutional angular velocities?

I am using a 3 axis gyroscope (Android device) to record angular velocities using a sensor data logger application. When the device is placed stationary, the gyroscope recorded the following values: ...
Akash Sagar's user avatar
1 vote
1 answer
526 views

What does Fsync do on MPU6050?

I'm looking to use the MPU6050 IMU and I am confused on what Fsync does, is it controlled by the host or the MPU6050 itself? https://invensense.tdk.com/wp-content/uploads/2015/02/MPU-6000-Register-...
FourierFlux's user avatar
1 vote
2 answers
136 views

Raspberry Pi - MPU9250 I2C communication, sensor sends corrupted data

I have a Raspberry Pi 4B connected to a 9 DOF Razor IMU M0 (equipped with a MPU9250 IMU and a SAMD21 microprocessor). I am trying to echo bytes back to the RPi, however, I seem to be getting corrupted ...
domiinio's user avatar
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231 views

Why does the data observed on a UART/RS232 bus look different between a logic analyzer and an STM32 Debugger?

I'm trying to communicate with a BNO055 using an STM32L552ZET6Q microcontroller via UART. The BNO055 is on a separate board, and connected to the STM32 via a 1.5M cable. Additionally, there are ...
E.HP.S's user avatar
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141 views

Waveshare 10 DOF (C) IMU sensor outputs are inconsistent

I got this Waveshare 10 DOF IMU Sensor (C) from my workplace to use in a project but the demo code given in their site. After I uploaded the code to the Arduino UNO I have, the serial monitor outputs ...
Berk's user avatar
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61 views

LRA motor driver activity appears to be corrupting I2C commands to another device

I'm working on a device that uses an STM32L552ZET6Q, two DRV2605L motor drivers configured for LRA PWM output, and two BNO055 IMU units configured for IMUPLUS mode. Each of the four chips is connected ...
E.HP.S's user avatar
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291 views

ASM330LHH didn't work in I2C with STM32 BLUENRG-LP

Here I used STM32 BLUENRG-LP SoC with ​ASM330LHH. We have the same schematic design in steval-IBD11V2A, like the first image. The second one is our schematic design. My I2C configuration init ...
Penergy's user avatar
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274 views

LSM6DSOX IMU sensor: interrupts necessary?

I have a question about the interrupt pin of the LSM6DSOX IMU. Can the interrupt pin be used to send an interrupt signal to my microcontroller to notify me when the sensor is detecting a change in ...
Reewen's user avatar
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1 vote
0 answers
131 views

How to detect orientation with accelerometer when vehicle has variable acceleration?

According to my research, in order to detect angular orientation, AHRSs use gyros and accelerometers. Using a gyro on its own does not work well because of integration drift, and only using an ...
Mert Celik's user avatar
1 vote
1 answer
150 views

DMU11 IMU data straight from port with Python

This is my first python project away from learning through textbook exercises. I have no other experience coding so sorry that the formatting is likely horrendous. I'm using DMU11 form Silicon Sensing ...
GracefulMango's user avatar
2 votes
3 answers
745 views

SPI bus termination for variable line length / variable number of slaves

There is a lot of information online for SPI bus termination, but my situation is a little bit different. I have created a system with the intention of 'plug and play' IMUs. Although the main ...
ritchie888's user avatar
3 votes
2 answers
1k views

I2C scan returns more devices than connected

I am using an ESP32 WROOM 32D on a self-designed PCB to read from two sensors: an IMU (LSM6DSO32) and a pressure sensor (LPS22df). The IMU reads and writes flawlessly, while the pressure sensor hasn't ...
M0WW0M's user avatar
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2 answers
122 views

What does "full scale" mean in terms of a triple-axis magnetometer?

I'm writing a driver for a QMC5883L triple-axis magnetometer and in the datasheet it specifies "Full Scale" as a configurable parameter which can either be 2G or 8G. I've seen this on other ...
noodlejs's user avatar
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2 votes
2 answers
1k views

What is the correct maximum sample rate for the MPU-6500? Most of the internet says 32kHz, the datasheets say this isn't likely

The MPU-6500 is an IMU IC from InvenSense/TDK that superseded the (legendary, by now) MPU-6050 IMU IC. Supposedly, the major performance improvement was that it has a sample rate of 32k samples a ...
Charlie's user avatar
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4 answers
620 views

ADC chip for multiple simultaneous conversions

First off: I'm a mechanical engineer. I did do ME218 at Stanford, so I am quite conversant with electronics. I know that there are basically three types of ADC architecture: sigma-delta, SAR and ...
ASG's user avatar
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2 answers
188 views

IMU for measuring body movement in water [closed]

As a swimmer I have always been curious to use my engineering knowledge in this sport. Specifically I do finswimming like the video I show below : https://www.youtube.com/watch?v=ckKeR5EVWkk I would ...
Gum's user avatar
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1 answer
228 views

Simplest explanation of the relationship between gyro bias <> angle random walk (ARW) and accel bias <> velocity random walk (VRW)

We are discussing the errors to consider when using IMUs for navigation. I seem to have a problem wrapping my head around the general concept of the topic and need some help. I understand that the ...
Mino's user avatar
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1 vote
0 answers
62 views

How to interpret linear equation of IMU output for sensor calibration

I created a system to measure angle in between two IMUs in 1-axis by getting the difference between their rolls. I then applied a kalman filter that takes into consideration the roll angle and ...
John Smith's user avatar
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166 views

STM32 I2C BNO055 has big spikes in data in fused mode

I am reading euler angles in fused mode from BNO055 device. It gets correct angles, but there are big spikes from time to time, but only when the values are changing. I am sending data over USB to my ...
Wolfiwolf's user avatar
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42 views

Could hall encoders that are attached to the DC motors affect each other or the IMUs?

I am a newbie and I want to build an autonomous mobile robot. I am planning to use 4 DC motors with hall-effect encoders. I will use 4 IMUs for localization at first. Next, I also have the plan to ...
Msr09's user avatar
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1 vote
1 answer
340 views

Reading timestamp from FIFO in LSM6DS3

I using an LSM6DS3 sensor in order to estimate motion and derive. For this purpose I am reading X,Y,Z acceleration values computing linear acceleration and using a time component to derive speed and ...
pu239ppy's user avatar
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785 views

Correct drift from IMU with magnetic sensor

Is it possible to correct the drift from the IMU by setting an external magnetic sensor as the reference point (zero) of the magnetometer in the IMU. For example, tracking the position of the wrist, ...
Michael's user avatar
0 votes
2 answers
970 views

Transform linear acceleration from frame of reference of IMU to vehicle

I'm using a 6-axis IMU (accelerometer + gyro) and collecting lateral and longitudinal acceleration (Ax an Ay) when in my car. But this device (with IMU) is positioned at an angle when plugged into the ...
Synapse Pixel's user avatar
1 vote
0 answers
254 views

IMU gives wrong pitch angle after 70°

I am currently using this library, in particular the Mahony filter within it, for sensor-fusion on an IMU in my diploma project. The library works great, but I have encountered a problem which only ...
SiberiaEnjoyer's user avatar
1 vote
1 answer
345 views

MPU6050 losing orientation

I've been playing around with an MPU6050 (GY-521 board) with a Nucleo L476RG. I think I'm reading the gyroscope correctly, but it seems like the values are only changing when the sensor is moving, and ...
user7538434's user avatar
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177 views

IMU connection to Arduino

I want to connect the LSM6DS3TR-C IMU chip to an Arduino via I2C, but I don't know how exactly to do it properly. What can I do wrong in this wiring diagram?
edenme's user avatar
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1 vote
1 answer
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Read MPU6050 over I2C with STM32 nucleo board

I am working with a NUCLEO-F401RE board and I want to connect the accelerometer sensor MPU6050 (on a GY-521 module). The device can be connected to the board over I2C. I connected the 3.3V of the ...
Michael's user avatar
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239 views

Why do magnetometer values change when I move PCB?

I have an MPU9250 on my PCB and I use an AHRS system with a Madgwick filter to get yaw angle. But for some reason - I can't get normal Euler angles (SO question). But I guess, I understood why. When I ...
crackanddie's user avatar
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215 views

How to get angles to which a device was rotated using info from an IMU6 sensor (gyroscope and accelerometer)?

I have a device with an IMU6 sensor. When it is laying on the table, the gyroscope and accelerometer data are constantly changing. The values between two measurements are similar, but they are never ...
Robotex's user avatar
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1 answer
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How decide which pin right for interrupts?

I would like to ask about I2C sensor's interrupt pins connection to STM32F. I use ADXL345 Ggyro sensor. I would like to connect sensor to STM32F446RE (64 LQFP). But I do not know what I need to know ...
TA2ERR's user avatar
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