calcOffsets not working if being called outside of setup?

[rfetick]

calcOffsets not working if being called outside of setup?

[rfetick]

Hello motedon,

Thank you for this clear description of the issue. Indeed calibration should be able to be performed outside of the setup function. I will check this on my side.

However the library has been designed to work close to the flat regime, since it assumes gravity along the Z axis for calibration. When calibrating in any position, the gravity is not on the Z axis and the angular computations fail.

I think that you should calibrate the MPU6050 in a flat position at the beginning. Then, when the user push a button, you save the current angles given by the library. Then you remove these angles as an offset, see the code below

float angXoffset = 0;
float angYoffset = 0;

void setup(){
  ... // initialize everything
  mpu.calcOffsets(); // calibrate MPU6050 when flat
}

void loop(){
  mpu.update();
  float angX = mpu.getAngleX() - angXoffset;
  float angY = mpu.getAngleY() - angYoffset;
  ... // do whatever you want with the angles

  if(button_pushed){
    angXoffset = mpu.getAngleX();
    angYoffset = mpu.getAngleY();
  }
}

Remember that the library works in the small angle regime, don't approach too much the 90° on the X or Y axis.

Cheers,

Romain

[motedon]

Thank you very much and currently I'm using from -30 to +30 degrees, will probably won't go past 50, so I'm fine. I will try to implement your suggestion and share the results.

[motedon]

Thank you very much Romain, your solution works as expected.