MPU-9250 is Nine-Axis (Gyro + Accelerometer + Compass) MEMS MotionTracking™ Device. I tried it with arduino.
MPU-9250 + ArduinoProMini + MultiWii
Add some code for MPU-9250
def.h
#if defined(MPU9250) #define MPU6050 #define AK8963 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = Y; imu.magADC[PITCH] = X; imu.magADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #end
config.h
#define MPU9250
[2016.3.20] change the sensitivity... AK8975: 0.3 μT/LSB (13-bit) AK8963: 0.15 µT/LSB (16-bit) The Quadcopter shake sometimes when flew in the HEADFREE mode. Therefore I changed the sensitivity of AK8963 down to AK8975 same.
Sensors.cpp
// *************************************** // I2C Compass AK8963 // *************************************** // I2C adress: 0x0C (7bit) // *************************************** #if defined(AK8963) #define MAG_ADDRESS 0x0C #define MAG_DATA_REGISTER 0x03 void Mag_init() { delay(100); i2c_writeReg(MAG_ADDRESS,0x0a,0x11); //0x01=AK8975,0x11=AK8963 delay(100); } void Device_Mag_getADC() { i2c_getSixRawADC(MAG_ADDRESS,MAG_DATA_REGISTER); MAG_ORIENTATION( ((rawADC[1]<<8) | rawADC[0]) /2, ((rawADC[3]<<8) | rawADC[2]) /2, ((rawADC[5]<<8) | rawADC[4]) /2); //Start another meassurement i2c_writeReg(MAG_ADDRESS,0x0a,0x11); } #endif
