14 | Measure angles with the MPU6050 accelerometer

In this video, you will learn how you can use the MPU6050 accelerometer to measure angles.

The purpose of this video series is to learn the basics behind a quadcopter drone and enable you to build one yourself, by dividing this challenging project in several easy-to-understand parts. You use the capable Teensy 4.0 microcontroller together with the easy-to-use Arduino language.

[markmaker]

This was the best explanation of how to implement the data sheet information into code I have ever seen. Simple and clear instructions. Thank you.

[nafs]

This was so informative - you are genuinely great at explaining things!

[robdevoer]

Superbly presented, you spend a lot of time making the design easy to understand. Thanks for all your efforts and then sharing it here, it has made a big difference for my project.

[HenishViradiya]

I was stuck with this thing. Thank you very much for helping in this.

[PK]

Great sir, thanks a lot for explaining everything simply ❤️

[dabunnisher]

This is a great video for explaining this sensor. Subscribed and Liked your video. Thank you.

[Bianchi]

Cool video shot, thanks for sharing, keep it up :)

[DavisidMatius]

Thank you very much!
I have a question for you, if one decided to use merely the angular accelerations from the sensor and estimating the angle using numerical integration.
If instead of using the rectangle numerical method (the one you showed in the video), one uses a more complex but more reliable numerical method, do you thing the drifting of the error would slow down?, and also, do you think that changing the sample frequency of the data acquisition from the sensor (and the Arduino) can improve the results?

[johndarking]

I should add that I was always impressed by the quality of my Belgian engineer coworkers.

[hocuspocus]

I want to ask, base on that equation wouldn't the tan(angle) of roll change if it starts accelerating in the x axis. Thanks

[ptfbzit]

Can you explain how you are able to use this measerments while quadocopter is moving in space. Because movement will lead to incorrect angle measures(It can show that quadocopter has non-zero pitch and/or roll while just accelerating in some direction)

[johndarking]

Further on pitch/roll reversed: This obviously depends on orientation. I have implemented on a breadboard style veroboard so the Y-axis is in the forward direction, hence Y is roll and X is pitch.
On AccZ at 1.6g: I bought a batch of 3 cheap mpu6060 boards (GY-521). The other 2 all give AccZ within 0.06 of 1g. I am a little suspicious of the 0.6 variation. I shall keep digging.

[theblobewab]

yoo this series is exactly what I was looking for thank you so much! underrated channel. One thing I don't understand is that if there is an acceleration happening that is not equal to 1g then wouldnt that make the accelerometer readings invalid for using for calculating final angle?

[velocitylaunchsystems]

When will be the next video and do you have any other videos that fully explain a kalman filter, this video was extremely helpful and for the first time i understood why simply using acceleration cannot work in a system that is constantly changing acceleration

[zoeyzhang]

Informative tutorial it is! Not sure if any custom PCBs/ 3D printing parts may help for any upcoming content? If so, would love to supply freely, if possible, will be cool if any collabs could be achieved together! (PCBWay zoey)

[covingtonkua]

How did u specify which SDA and SCL pin is used?

[alphaparticle]

Hii Where did u find that Ts=0.004 i.e for 250Hz cycle .how did we select that

[nassimsadikou]

hey, it seems the YAW angle computation based on Accelerometer propery isn't working, i mean after i got the value of AccZ who is equal 1, the Angle based on trigonometry should be : atan(AccelZ / sqrt(pow(AccelX, 2) + pow(AccelY, 2))) /(PI/180);

[igort]

Why don't use the dmp to get fused data ?

[AngilynMaeReyes]

great idea sir, may I ask how to get the yaw angle from this? thank you very much!