I am working on a datalogger with mpu-9150.
the datalogger
will record the Q, Gyro and Accel data from mpu-9150 (I use MPU6050_9Axis_MotionApps41 found online) into flash memory during rotating. I have a program to process the recorded data on PC.
I found the line display of Quaternion data is a sinus curve,( which is good, I do not need to integrate the gyro data to get the angle-->rotation)
I can use Q to calculate RPM ( Rotations Per Minute).
Update
I looked into the data recorded, it seems that Quaternion is about right.
but Gyro data and accelerometer data not right. because they are in a narrow range, during rotating.
I doubt that DMP not output Gyro data and accelerometer data into FIFO, is it possible?????
any help will be highly appreciated
2. The problem is the Quaternion sinus curve is not "continuous ", I mean its Envelope is snus curve but every a few points the value go back to "zero" (near zero) once or twice then go back to the point on the sinus curve.
in one of my test, I have a few continuous sinus curves in the middle.
which look pretty good. but most of them same as I said above.
they look stranger.
any one had similar problem, know why it happens and/or how to handle it?
Any help will be highly appreciated .
The rotation test is on a rotation machine in Lab. RPM is about 60.
I have a pic can show but do not know how to attach here.
I am new and not familiar with these data.
they look stranger. any one had this problem and how to handle them?
below is a section of raw data.does the G data values are too small compare to Q data?
Qw Qx Qy Qz Gx Gy Gz Ax Ay Az
3873 -2975 -29 -11138 17 -9 -10 -644 -99 89
-51 -81 11065 -11249 17 -9 -10 -646 -105 94
3191 -2 -124 -87 17 -10 -10 -648 -108 98
2848 -1969 -59 -11441 17 -11 -10 -655 -101 84
-57 -96 -4 -1 17 -11 -10 -655 -102 88
2156 -14 11304 -70 17 -11 -10 -653 -102 92
1806 -954 11338 -11649 17 -11 -10 -658 -97 92
-81 -100 11363 -11698 17 -11 -10 -668 -94 87
1101 -14 11376 -11736 17 -10 -10 -661 -98 93
-22 73 11380 -11763 17 -10 -10 -654 -95 89
-121 -96 11373 -4 17 -11 -10 -652 -95 90
36 -11 11356 -10 17 -11 -10 -656 -97 80
-62 1097 11329 -5 17 -12 -10 -652 -101 88
-672 -100 11291 -11766 17 -11 -10 -652 -102 93
-3 -16 -21 -11740 17 -10 -10 -656 -99 88
-102 2114 -79 -11703 17 -10 -10 -644 -109 85
-1735 -110 11117 -11655 17 -10 -10 -646 -100 80
-39 -31 11038 -77 17 -9 -10 -641 -94 76
-2439 3118 -60 -8 17 -8 -10 -121 -100 84
-2790 3450 10849 -11448 17 -7 -10 -118 -102 74
-66 -61 -13 -93 17 -8 -10 -118 -92 63
-3482 4102 10620 -11256 17 -9 -10 -119 -92 50
-3822 4421 -4 -11145 17 -9 -10 -117 -94 65
-61 4735 10354 -16 17 -11 -10 -122 -85 67
-4487 -77 -33 -10894 17 -11 -10 -122 -89 64
-4815 -27 10050 -1 17 -10 -10 -111 -99 73
-19 5650 -100 -106 17 -9 -10 -113 -97 82
-83 5946 -19 -10442 17 -9 -10 -120 -91 76
-5773 6237 9524 -31 17 -9 -10 -114 -100 74
-6084 6523 9330 -107 17 -8 -10 -120 -104 87
-6388 -109 -88 -9901 17 -8 -10 -124 -96 91
-30 -92 -42 -9703 17 -9 -10 -642 -102 73
-65 -82 -4 -24 17 -9 -10 -120 -113 84
-96 -77 8471 -63 17 -7 -10 -121 -104 103
-121 -79 8235 -93 17 -7 -10 -120 -93 87
-7818 -88 7992 -115 17 -8 -10 -116 -104 73
-8085 -104 7741 -127 18 -6 -10 -114 -101 87
-8346 -127 7480 -8323 17 -5 -10 -107 -97 92
-8599 8803 7212 -125 17 -5 -10 -114 -98 90
-8844 9021 6937 -113 17 -5 -10 -109 -106 92
-120 9229 6657 -93 17 -6 -10 -110 -106 102
-90 -45 -28 -68 17 -7 -10 -113 -102 87
-50 -112 -62 -38 17 -8 -10 -114 -110 84
-1 9795 -100 -3 17 -9 -10 -116 -109 99
-9927 -19 5488 -6362 17 -9 -10 -117 -96 104
-10117 -113 5182 -6057 17 -7 -10 -110 -100 105
-58 10279 4870 -113 17 -7 -10 -107 -106 112
-10469 -73 -54 -52 17 -7 -10 -112 -101 99
-10631 10557 -120 -5106 18 -7 -10 -118 -97 99
-31 -72 3907 -4778 17 -6 -10 -113 -104 98
-10925 10794 -6 -94 17 -7 -10 -108 -107 102
-48 -110 -81 -15 17 -7 -10 -108 -99 94
-11177 -16 2911 -3771 18 -6 -10 -108 -98 96
-24 11075 2573 -99 17 -7 -10 -107 -102 97
-124 -116 -71 -9 17 -7 -10 -112 -99 99
-11477 -54 1890 -2731 18 -6 -10 -115 -97 93
-37 -1 1544 -73 18 -5 -10 -105 -103 92
-105 11304 -84 -2020 17 -5 -10 -98 -107 99
-11682 11335 847 -126 17 -5 -10 -105 -98 96
-11728 11355 -13 -24 17 -6 -10 -111 -100 97
-11763 11365 -104 -946 17 -8 -10 -109 -104 96
-10 11364 -193 -78 17 -9 -10 -110 -98 91
-23 11353 -25 -233 17 -10 -10 -117 -93 90
-25 11331 -112 122 17 -10 -10 -114 -99 88
-16 11298 -1223 -33 17 -9 -10 -114 -98 98
-11773 -9 -31 836 17 -8 -10 -126 -93 113
-11742 -62 -116 -88 17 -9 -10 -125 -100 105
-11701 -125 -2248 1548 17 -8 -10 -122 -102 103
-11649 11065 -26 1902 17 -9 -10 -125 -99 106
-66 -27 -105 -50 17 -8 -10 -642 -101 110
-11513 -121 -3254 2605 17 -8 -10 -122 -106 105
-11428 10783 -3584 -120 17 -9 -10 -121 -106 100
-70 -83 -70 -31 17 -9 -10 -125 -104 100
-11229 10545 -4232 3638 17 -9 -10 -126 -114 103
-105 -85 -4551 -118 17 -8 -10 -123 -119 113
-10987 10267 -4 -37 17 -7 -10 -127 -104 116
-98 -127 -61 4648 17 -7 -10 -127 -99 112
-10703 -34 -112 4977 17 -7 -10 -126 -101 108
-51 9778 -5788 -76 17 -8 -10 -642 -99 110
-10381 9598 -6083 -16 17 -9 -10 -128 -100 109
-10207 -62 -6370 5926 17 -10 -10 -645 -102 109
-41 -1 -6650 6229 17 -12 -10 -648 -104 103
-106 9011 -13 6526 17 -11 -10 -647 -100 109
-9634 8799 -24 -95 17 -12 -10 -645 -100 109
-9425 -124 -30 -65 17 -11 -10 -645 -97 103
-9207 -97 -30 -41 17 -10 -10 -655 -100 113
-20 -78 -23 -24 17 -10 -10 -654 -108 111
-41 -65 -8 -13 17 -10 -10 -654 -111 102
-54 -60 -8435 -10 17 -10 -10 -655 -106 105
-57 -64 -8663 -12 17 -8 -10 -651 -100 115
-54 -74 -8883 -22 17 -10 -10 -653 -102 111
-44 -88 -9093 -42 17 -10 -10 -643 -97 93
-27 -111 -80 -69 17 -9 -10 -655 -100 110
-2 6260 -19 -104 17 -9 -10 -653 -100 110
-6881 5969 -9678 9581 17 -8 -10 -654 -99 102
-6586 5671 -128 9786 17 -8 -10 -654 -93 96
-6285 -6 -41 -4 17 -8 -10 -658 -92 98
-92 -56 -10183 -74 17 -9 -10 -658 -93 105
-39 -109 -92 10340 17 -11 -10 -655 -87 104
-5359 4444 -10470 10505 17 -12 -10 -657 -93 109
-5043 4130 -102 -93 17 -13 -10 -656 -96 111
-114 -28 -10717 10805 17 -13 -10 -658 -95 108
-45 -94 -75 -67 17 -12 -10 -655 -95 105
-4068 3165 -10927 11066 17 -13 -10 -651 -101 85
-3734 2837 -10 -82 17 -12 -10 -649 -98 84
-68 -55 -91 11289 17 -11 -10 -655 -98 84
-3055 2171 -11170 11385 17 -11 -10 -654 -99 77
-2710 1834 -11231 -49 17 -10 -10 -655 -105 80
-57 -42 -18 11548 17 -9 -10 -656 -101 90
-2010 1151 -58 11614 17 -9 -10 -653 -99 82
-122 810 -89 -108 17 -11 -10 -649 -105 73
-25 -44 -109 -64 17 -10 -10 -649 -105 86
-950 125 -118 -30 17 -10 -10 -644 -96 87
-82 -219 -117 -7 17 -9 -10 -651 -99 82
-236 -52 -106 11781 17 -9 -10 -649 -105 91
121 -907 -84 11783 17 -9 -10 -650 -97 90
-34 -1249 -52 -3 17 -10 -10 -648 -94 79
833 -53 -9 -23 17 -10 -10 -127 -101 80
-94 -1926 -11221 -54 17 -12 -10 -648 -97 80
1536 -2260 -11159 -95 17 -12 -10 -651 -90 84
1885 -32 -78 11630 17 -12 -10 -128 -101 95
-70 -107 -11004 11568 17 -12 -10 -641 -100 100
2581 -3252 -10911 -25 17 -11 -10 -646 -88 95
2925 -3577 -57 -108 17 -11 -10 -645 -94 89
-61 -60 -10697 11319 17 -11 -10 -645 -102 95
3607 -123 -79 -49 17 -10 -10 -643 -93 92
3945 -4536 -10443 11101 17 -9 -10 -122 -90 87
-71 -4851 -61 -32 17 -8 -10 -114 -99 83
4614 -41 -10149 10840 17 -8 -10 -112 -98 78
4943 -91 -3 -58 17 -8 -10 -127 -94 73
-108 -5769 -88 10538 17 -7 -10 -122 -105 71
-44 -6066 -9635 -124 17 -7 -10 -116 -106 81
5904 -6357 -9445 -44 17 -6 -10 -115 -94 78
6215 -6643 -30 10010 17 -6 -10 -112 -91 76
6520 -11 -78 9814 17 -6 -10 -104 -97 76
-94 -28 -118 -118 17 -7 -10 -106 -94 76
-60 -37 -8598 -74 17 -8 -10 -111 -90 86
-32 -38 -8367 -39 17 -8 -10 -109 -102 83
-13 -31 -8130 -11 17 -9 -10 -110 -103 83
7936 -17 -7884 8712 17 -8 -10 -112 -92 82
8197 -8444 -7631 8467 17 -8 -10 -110 -98 87
8451 -8672 -7371 8215 17 -9 -10 -106 -107 92
-6 -8891 -7104 7954 17 -8 -10 -113 -99 98
-24 -9102 -6831 7687 17 -9 -10 -106 -96 80
-52 -88 -6553 -11 17 -9 -10 -103 -101 64
-85 -26 -123 -38 18 -7 -10 -101 -100 75
-127 -9684 -85 -72 17 -6 -10 -103 -94 81
9807 -9862 -42 -113 17 -6 -10 -103 -99 79
10003 -47 -5368 6239 17 -6 -10 -92 -104 84
-48 -10190 -5057 5929 17 -5 -10 -97 -92 96
-125 -101 -4739 -20 18 -4 -10 -105 -89 103
10539 -10481 -66 -86 17 -5 -10 -108 -97 99
-54 -116 -4093 4963 18 -5 -10 -109 -101 102
10846 -10732 -3764 4632 17 -5 -10 -105 -96 105
-24 -90 -106 -54 17 -6 -10 -104 -101 94
11110 -10941 -29 3961 17 -7 -10 -102 -106 98
-38 -21 -2766 3621 17 -8 -10 -108 -100 104
11332 -100 -124 -50 17 -8 -10 -116 -92 106
-93 -11176 -41 2932 17 -8 -10 -107 -100 111
-8 -11233 -1748 2584 17 -8 -10 -109 -107 120
11586 -16 -125 -71 17 -8 -10 -114 -104 119
-127 -53 -36 1880 17 -8 -10 -110 -110 113
-75 -80 -715 -11 17 -8 -10 -107 -112 108
-34 -96 -115 -109 17 -10 -10 -113 -106 104
-3 -101 -25 814 17 -8 -10 -108 -103 108
11793 -96 322 -57 17 -7 -10 -108 -105 124
11802 -81 -99 96 17 -8 -10 -111 -102 119
11799 -55 -8 -8 17 -7 -10 -108 -100 113
11786 -17 1362 -113 18 -6 -10 -111 -109 120
-14 -11234 -84 -986 17 -6 -10 -100 -107 111
-50 -11176 2053 -65 17 -6 -10 -106 -97 102
-96 -100 2393 -1702 17 -8 -10 -111 -98 100
11623 -22 -86 -7 17 -9 -10 -109 -97 103
11556 -10942 -9 -102 17 -9 -10 -111 -98 104
-42 -92 3393 -2753 17 -10 -10 -113 -97 102
11390 -10736 -121 -25 17 -11 -10 -117 -102 103
11292 -123 -54 -111 17 -10 -10 -118 -101 105
-81 -10492 4362 -3778 17 -10 -10 -123 -101 110
11064 -115 4677 -17 17 -10 -10 -122 -100 101
-73 -10209 4989 -93 17 -9 -10 -121 -95 99
10796 -69 -80 -4773 17 -10 -10 -124 -93 94
-106 -9889 -34 -5096 17 -10 -10 -643 -95 93
-8 -9715 5895 -38 17 -10 -10 -651 -103 104
10320 -60 6186 -96 17 -10 -10 -649 -104 110
-98 -125 6472 -6036 17 -10 -10 -652 -102 102
-29 -9140 6753 -6340 17 -9 -10 -650 -105 104
9757 -8930 7028 -6639 17 -8 -10 -644 -99 104
9550 -8 -126 -21 17 -7 -10 -646 -98 104
9334 -37 -118 -53 17 -7 -10 -647 -97 103
-107 -58 -118 -78 17 -7 -10 -653 -101 110