Soft calibration

[filmo]

Performs a software calibration of the 6050 to zero it out. Could possibly be extended to write the calibrations to the 6050 registers with a bit of rework.

[m-rtijn]

Wow this looks really neat. Thanks! Before I merge this I want to take a closer look at the code, which I'll do in a few days.

[filmo]

Feel free to change or make suggestions. The progress 'print' is for python 3. Could be eliminated or made more flexible to accommodate 2.7 (line 280).

[m-rtijn]

Did you test it with python3? As far as I know the python-smbus is not compatible with any python version higher than 2.7.x.

[filmo]

I actually only used it on Python 3.5. Didn't test on 2.7. One potential issue is that my print statement for the 'progress' on line 280 is python 3 specific.

Your package is being used on donkey car which is python 3 / raspberry pi oriented.

I'll take a look at smbus specifically this weekend

[m-rtijn]

Oh that's pretty interesting. I haven't used my module for a while, but last time I did the smbus module was not available in Python 3. I'm going to test that asap.

[m-rtijn]

Hey, I currently don't have any working MPU-6050s on hand (I fried my last working one) to test it, so I'm afraid it will have to wait for some time.

[juliangaal]

Performs a software calibration of the 6050 to zero it out. Could possibly be extended to write the calibrations to the 6050 registers with a bit of rework.

If I understand your code correctly, you calculate the mean of ~200 readings for each sensor axis, to then subtract the value from a scaled reading in get_accel/get_gyro, correct? This simply removes any bias/drift we observe in a still environment?

[Spirit30]

I wrote similar version to calibrate.
It works fine while rotate around same axis.
But after active rotation around all axis it stops be precise after some time.
I have feeling it should be calibrated in 6 rotations first.
And next 6 result offsets should be interpolated at runtime depending on which rotation is closer.
Similar to Beta Flight or INAV software.