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Angle Sensing with MPU-6050 for Spirit Level Application

Introduction

This document describes the use of the MPU-6050 sensor for angle measurement, particularly in the context of a spirit level application. The MPU-6050 integrates a 3-axis accelerometer and a 3-axis gyroscope, enabling it to accurately measure the orientation of an object.

Key Concepts

MPU-6050 Accelerometer Data

The MPU-6050 provides acceleration data across three axes (X, Y, Z). These values represent the gravitational force acting on each axis, which can be used to determine the tilt angle.

Angle Calculation

To calculate the tilt angle, we use the acceleration data provided by the MPU-6050. The angle is derived using the arcsin function, which computes the angle from the ratio of the accelerometer readings to the gravitational constant.

Formula for Angle Calculation

The angle θ can be calculated as follows: $$ [ \theta = \arcsin\left(\frac{A_x}{\sqrt{A_x^2 + A_y^2 + A_z^2}}\right) ] $$ Where: - Ax: Acceleration along the X-axis - Ay: Acceleration along the Y-axis - Az: Acceleration along the Z-axis

Practical Application

This angle calculation is crucial for maintaining the balance of the drone and can also be used in applications like a digital spirit level.

  • Motor Control: To understand how angle data influences motor adjustments.