MPU6050 Class Reference

Public Member Functions
	MPU6050 (uint8_t address, uint32_t accel_fs_range, uint32_t gyro_fs_range)
void	init ()
float	readXAcceleration ()
float	readYAcceleration ()
float	readZAcceleration ()
float	readXAngularVelocity ()
float	readYAngularVelocity ()
float	readZAngularVelocity ()
float	readTemperature ()
void	filterImu ()
float	getRoll ()
float	getPitch ()

Public Attributes
int16_t	acc_x
int16_t	acc_y
int16_t	acc_z
float	acc_x_real
float	acc_y_real
float	acc_z_real
int16_t	ang_vel_x
int16_t	ang_vel_y
int16_t	ang_vel_z
float	ang_vel_x_real
float	ang_vel_y_real
float	ang_vel_z_real
int16_t	temp
float	temp_real
float	pitch_angle
float	roll_angle
float	acc_x_ms
float	acc_y_ms
float	acc_z_ms

Member Function Documentation

filterImu()

void MPU6050::filterImu

(

)

perform sensor fusion perfom complementary filter to remove accelerometer high frequrecny noise remove low frequency noise from gyroscope and fuse the sensors

getPitch()

float MPU6050::getPitch

(

)

compute the roll angle angle along the longitudinal axis return pitch angle in degrees

getRoll()

float MPU6050::getRoll

(

)

compute the pitch angle angle along the transverse axis return roll angle in degrees

readXAcceleration()

float MPU6050::readXAcceleration

(

)

Read X axiS acceleration

readYAcceleration()

float MPU6050::readYAcceleration

(

)

Read Y acceleration

readZAcceleration()

float MPU6050::readZAcceleration

(

)

Read Z acceleration

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The documentation for this class was generated from the following files:

• n4-flight-software/src/mpu.h
• n4-flight-software/src/mpu.cpp