DEALINGS IN THE SOFTWARE. ========================================================= */ // I2Cdev and MPU6050 must be installed as libraries #include "I2Cdev.h" #include "MPU6050.h" #include "Wire.h" /////////////////////////////////// CONFIGURATION ///////////////////////////// //Change this 3 variables
by Alex //#define FREEIMUv035_BMP // FreeIMU v0.3.5_BMP //#define FREEIMUv04 // FreeIMU v0.4 with MPU6050, HMC5883L, MS561101BA <- confirmed by Alex //#define FREEIMUv043 // same as FREEIMUv04 with final MPU6050 (with the right ACC scale) //#define NANOWII // the smallest multiwii FC based on MPU6050
OTHER DEALINGS IN THE SOFTWARE. =============================================== */ // I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files // for both classes must be in the include path of your project #include "I2Cdev.h" #include "MPU6050_6Axis_MotionApps20.h" //#include "MPU6050
SYSTEM BUS
VLOGIC
VDD_IO
System Processor IO
(0V - VLOGIC)
VDD
INT
SDA
SCL
MPU-6050
VLOGIC
(0V - VLOGIC)
AUX_DA
AUX_CL
ADD
3rd Party Magnetometer
VDD_IO
CS
INT 1
INT 2
SA0
SDA
SCL
(0V - VLOGIC)
I/O Levels and Connections for AUX_VDDIO = 0
MPU-60X0
Interrupt Status Register
12 INT
I2C Processor Bus: for reading all sensor data from MPU and for configuring external sensors (i.e. compass in this example)
8 /CS
VDD
9 AD0/SDO
VDD or GND
23 SCL/SCLK
SCL
24 SDA/SDI
SDA
System Processor
Sensor I2C Bus: for configuring and reading from external sensors
FIFO
Slave I2C or SPI Serial Interface
AUX_CL
SCL
Optional
Sensor Register
Sensor Master I2C Serial Interface
Interface Bypass Mux
AUX_DA
SDA
Compass
Factory Calibration
Digital Motion Processor (DMP)
Interface bypass mux allows direct configuration of compass by system processor
13 VDD
18
- http://www.multiwii.com/forum/viewtopic.php?f=7&t=4787 Hardware: - Arduino nano (atmega328p) - mpu6050 gyro-accelerometer (GY_521) - any RC receiver with CPPM (ppmsum) output OR serial Bluetooth module like HC-05 - A4988 motor drivers with 1/8 microstepping configuration (see http://www.pololu.com/
Motor Charging (YELLOW) Power LED (RED) Barometer: SPL06-001 Magnetometer: QMC5883L Accelerometer: MPU6050 Camera Interface Connect (GREEN) Calibration (BLUE) RST KEY
D 0.1µF C8 IO21 N 36 MPU_SCL G 2.2nF IO22 37 8 IO23 1 GND 10 U2 +3.3V V_AKKU IO25 +3.3V GND 11 MPU-6050 IO26 R4 PWR_FLAG 12 R3 IO27 GND 8 4.7k B 1 IO32 4.7k B V_AKKU 9 N +5V IO33 I 6 MPU_SDA D 5 IO34 MPU_SCL N 2 8 6 C2 7 C1 G GND 7 U D IO35 T L C_Small N C_Small U G O CH340C_DTR 3 15 8 9 +5V 1 3 3 F
1 CLKIN G D V V CLKOUT 22 O V R R 24 V 6 MP_SDA 23 SDA IC3 AUX_DA 7 MP_SCL 9 SCL AUX_CL AD0 12 MPU-6050 MP_IRQ INT U T N O U S N E P F G R C 1 1 1 2 GND Quadcopter JD-385 Sensoren 0.1 21.11.2013 09:00:56 D:\Eagle-Daten\projects\Quadcopter\Copter00.sch (Sheet: 4/5) D D N N 1 3 G G 3 1 S7 S13 1 k 2S12
1 CLKIN G D V V CLKOUT 22 O V R R 24 V 6 MP_SDA 23 SDA IC3 AUX_DA 7 MP_SCL 9 SCL AUX_CL AD0 12 MPU-6050 MP_IRQ INT U T N O U S N E P F G R C 1 1 1 2 GND Quadcopter JD-385 Sensoren 0.1 21.04.2014 09:36:19 D:\Eagle-Daten\projects\Quadcopter\Copter00.sch (Sheet: 4/5) GND GND GND GND GND GND C27 C28 9 k
breakout board E05 OVP €3.00 2 https://www.sparkfun.c http://i.ebayimg.c 10€ sparkfun available MPU6050 breakout, not from sparkfun! Sparkfun link just for reference E06 OVP €5.00 2 https://www.sparkfun.c http://i.ebayimg.c 10€ ebay available sparkfun just for reference, mine is ebay esp8266 module
CONFIG_BMI160_I2C is not set # CONFIG_BMI160_SPI is not set # CONFIG_KMX61 is not set # CONFIG_INV_MPU6050_I2C is not set # CONFIG_INV_MPU6050_SPI is not set # CONFIG_IIO_ST_LSM6DSX is not set # # Light sensors # # CONFIG_ADJD_S311 is not set # CONFIG_AL3320A is not set # CONFIG_APDS9300 is not set # CONFIG_APDS9960
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