A simple code that does not use too many libraries, to control an MPU6050 chip (tested on a GY-521).
- By reading linear acceleration and angular velocity, orientation measurements are produced.
- Because the error and offsets are generally device specific, one should first test and tweak the 6 OFFSET parameters. Also use the code to read sensor configuration and change measurement scales accordingly.
To be added:
- Auto scaling based on reading config on startup
- Function for OFFSET setting based on readings