Hey, I'm doing my final year project and this is what I got for the output of MPU9150 for accelerometer and gyro.
These are the raw data.
DATA
X_acc Y_acc Z_acc X_gyro Y_gyro Z_gyro
416 -16 -16916 -225 4 161
360 120 -16868 -216 -254 124
480 -44 -16688 -226 -17 165
372 -12 -16996 -229 248 129
296 -48 -16872 -510 -2 139
292 -88 -16644 -265 -7 154
304 20 -16788 -223 -36 146
388 -52 -16864 -244 -1 135
376 12 -16892 -226 -1 116
340 -164 -16832 -228 -7 149
408 -256 -16996 -226 0 176
360 48 -16904 -227 15 144
392 32 -16900 -251 -5 143
376 -220 -16884 -250 -28 145
304 -76 -16892 -254 -12 112
452 -40 -17128 -511 255 133
344 36 -16716 -243 1 135
356 -112 -17008 -253 13 132
316 -52 -16676 -201 15 141
364 -172 -16964 -238 -8 134
320 -80 -16856 -243 -7 146
356 -36 -16816 -200 -35 154
384 -112 -17016 -235 -4 144
396 -24 -16900 -212 -42 138
264 -168 -16856 -208 -18 123
300 -492 -16788 -226 -33 156
388 -36 -16820 -214 -29 153
388 -24 -16688 -208 -16 148
344 -20 -16720 -236 5 135
412 -40 -16836 -217 255 147
392 -92 -16980 -235 243 127
452 -24 -16904 -240 -15 158
372 -108 -16852 -226 -11 128
392 -36 -16848 -232 -2 136
436 -20 -16904 -223 -22 140
400 24 -16988 -226 2 141
448 -240 -16876 -242 -256 105
452 -4 -16784 -243 -22 159
380 -28 -16856 -201 -4 138
376 12 -16980 -216 -14 161
340 -24 -16720 -2 -10 119
300 24 -16944 -213 7 110
408 -24 -16744 -234 -24 143
160 -284 -16812 -2 -20 146
748 144 -16856 -214 -18 147
332 -428 -16972 -219 3 162
and I convert it by divide these raw data with 16384 for accelerometer raw data and divide with 131 for gyro raw data. (scale that i used was 2g and 250deg/sec). these are what i got.
ACCELERATION ANGULAR ACCELERATION
X_acc Y_acc Z_acc X_gyro Y_gyro Z_gyro
0.025390625 -0.000976563 -1.032470703 -1.717557252 0.030534351 1.229007634
0.021972656 0.007324219 -1.029541016 -1.648854962 -1.938931298 0.946564885
0.029296875 -0.002685547 -1.018554688 -1.72519084 -0.129770992 1.259541985
0.022705078 -0.000732422 -1.037353516 -1.748091603 1.893129771 0.984732824
0.018066406 -0.002929688 -1.029785156 -3.893129771 -0.015267176 1.061068702
0.017822266 -0.005371094 -1.015869141 -2.022900763 -0.053435115 1.175572519
0.018554688 0.001220703 -1.024658203 -1.702290076 -0.27480916 1.114503817
0.023681641 -0.003173828 -1.029296875 -1.86259542 -0.007633588 1.030534351
0.022949219 0.000732422 -1.031005859 -1.72519084 -0.007633588 0.885496183
0.020751953 -0.010009766 -1.02734375 -1.740458015 -0.053435115 1.13740458
0.024902344 -0.015625 -1.037353516 -1.72519084 0 1.34351145
0.021972656 0.002929688 -1.031738281 -1.732824427 0.114503817 1.099236641
0.023925781 0.001953125 -1.031494141 -1.916030534 -0.038167939 1.091603053
0.022949219 -0.013427734 -1.030517578 -1.908396947 -0.213740458 1.106870229
0.018554688 -0.004638672 -1.031005859 -1.938931298 -0.091603053 0.854961832
0.027587891 -0.002441406 -1.045410156 -3.900763359 1.946564885 1.015267176
0.020996094 0.002197266 -1.020263672 -1.854961832 0.007633588 1.030534351
0.021728516 -0.006835938 -1.038085938 -1.93129771 0.099236641 1.007633588
0.019287109 -0.003173828 -1.017822266 -1.534351145 0.114503817 1.076335878
0.022216797 -0.010498047 -1.035400391 -1.816793893 -0.061068702 1.022900763
0.01953125 -0.004882813 -1.028808594 -1.854961832 -0.053435115 1.114503817
0.021728516 -0.002197266 -1.026367188 -1.526717557 -0.267175573 1.175572519
0.0234375 -0.006835938 -1.038574219 -1.79389313 -0.030534351 1.099236641
0.024169922 -0.001464844 -1.031494141 -1.618320611 -0.320610687 1.053435115
0.016113281 -0.010253906 -1.028808594 -1.58778626 -0.13740458 0.938931298
0.018310547 -0.030029297 -1.024658203 -1.72519084 -0.251908397 1.190839695
0.023681641 -0.002197266 -1.026611328 -1.633587786 -0.221374046 1.167938931
0.023681641 -0.001464844 -1.018554688 -1.58778626 -0.122137405 1.129770992
0.020996094 -0.001220703 -1.020507813 -1.801526718 0.038167939 1.030534351
0.025146484 -0.002441406 -1.027587891 -1.65648855 1.946564885 1.122137405
0.023925781 -0.005615234 -1.036376953 -1.79389313 1.854961832 0.969465649
0.027587891 -0.001464844 -1.031738281 -1.832061069 -0.114503817 1.20610687
0.022705078 -0.006591797 -1.028564453 -1.72519084 -0.083969466 0.977099237
0.023925781 -0.002197266 -1.028320313 -1.770992366 -0.015267176 1.038167939
0.026611328 -0.001220703 -1.031738281 -1.702290076 -0.167938931 1.06870229
0.024414063 0.001464844 -1.036865234 -1.72519084 0.015267176 1.076335878
0.02734375 -0.014648438 -1.030029297 -1.847328244 -1.954198473 0.801526718
0.027587891 -0.000244141 -1.024414063 -1.854961832 -0.167938931 1.213740458
0.023193359 -0.001708984 -1.028808594 -1.534351145 -0.030534351 1.053435115
0.022949219 0.000732422 -1.036376953 -1.648854962 -0.106870229 1.229007634
0.020751953 -0.001464844 -1.020507813 -0.015267176 -0.076335878 0.908396947
0.018310547 0.001464844 -1.034179688 -1.625954198 0.053435115 0.839694656
0.024902344 -0.001464844 -1.021972656 -1.786259542 -0.183206107 1.091603053
0.009765625 -0.017333984 -1.026123047 -0.015267176 -0.152671756 1.114503817
0.045654297 0.008789063 -1.028808594 -1.633587786 -0.13740458 1.122137405
0.020263672 -0.026123047 -1.035888672 -1.671755725 0.022900763 1.236641221
the MPU9150 was put is a static place but how can the gyro reading didnt become 0?
can anybody teach me please!
Re: Re: MPU9150 output is weird
There's an offset & scaling error. You have to correct it in your soft.
Ask google about calibrating your gyro (and your accelero).
Re: Re: MPU9150 output is weird
Make sure that the full scale range the you are using is correct. For the gyro, it can be found as register 0x1B. If it's 250deg/s, the way you are calculating is correct. However, the gyro needs to be calibrated to get rid of the offset. The value you have presented is quite reasonable.