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accelerometergyroscopemotionmpu6050mpu
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Reputation: 1531

MPU6050 Quaternion math

Does anyone know how the MPU6050 internally calculates the quaternion values? I followed all of the steps to attempt and replicate this math by integrating the gyro degrees per second readings over time to get Euler angles and then converting those Euler angles to quaternion values with the appropriate trig functions. My quaternion values do not match up with the quaternion the MPU6050 outputs and I could not find details on the chip’s internal math anywhere online. Thank you.

Upvotes: 1

Views: 2481

Answers (1)

Hector Manuel
Hector Manuel

Reputation: 111

The MPU6050 uses an internal procesor (dmp) in combination whit closed source libraries and they're not documented, you can use their closed source library whit the dmp image or you can check the reverse engeniering of this particular sensor in https://www.i2cdevlib.com they implemented some of the functions of the dmp but not all of them, sadly all the magic is made in the dmp :(

Upvotes: 1

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