MPU6050 IMU Sensor
Measure acceleration, angular rate, and temperature along axes of MPU-6050 sensor
Since R2020a
Add-On Required: This feature requires the Simulink Support Package for Arduino Hardware add-on.
Libraries:
Simulink Support Package for Arduino Hardware /
Sensors
Description
The MPU6050 IMU Sensor block reads data from the MPU-6050 sensor that is connected to the hardware.
The block outputs acceleration, angular rate, and temperature along the axes of the
sensor. The block outputs acceleration and angular rate as a
3-by-n
double-precision array, where
n
is the value specified as Samples per frame. The temperature
data is output as a scalar double.
Note
The output from the MPU-6050 sensor may have a finite non-negligible offset value
except for the Temperature
output. You
may consider correcting this offset value for such cases.
This diagram shows the default orientation of the x-, y-, and z-axes of the MPU-6050 sensor.
If you simulate a model that contains the MPU6050 IMU Sensor block without connecting it to the hardware, the block outputs zeros. For more information, see Block Produces Zeros or Does Nothing in Simulation.
Ports
Output
Accel — Acceleration including force of gravity along axes of sensor
vector
The Accel port outputs acceleration along the
x-, y-, and
z-axes of the sensor as a
3-by-n
vector, where
n
is the value specified as Samples per frame.
The acceleration is measured in m/s2 and also
includes acceleration due to gravity.
Dependencies
The Accel port is available only when you select the Acceleration (m/s^2) parameter.
Data Types: double
Ang rate — Angle of rotation per second along axes of sensor
vector
The Ang rate port outputs the angle of rotation
per second along the x-, y-, and
z-axes of the sensor as a
3-by-n
vector, where
n
is the value specified as Samples per frame.
The angular rate is measured in dps.
Dependencies
The Ang rate port is available only when you select the Angular rate (dps) parameter.
Data Types: double
Temperature — Temperature along axes of sensor
vector
The Temperature port outputs the temperature along the x-, y-, and z-axes of the sensor. The temperature is measured in degree Celsius.
Dependencies
The Temperature port is available only when you select the Temperature (deg C) parameter.
Data Types: double
Status — Status of read operation
scalar
The Status port outputs the status of the read
operation. The port outputs the status as a uint8
value. Each value corresponds to the data transfer status.
Status Value | Status Description |
---|---|
0 | SUCCESS |
1 | BUSY |
2 | ARBITRATION_LOST |
4 | NO_ACKNOWLEDGE |
8 | BUS_ERROR |
16 | BUS_NOT_IN_USE |
32 | SENSOR_INIT_ERROR |
Dependencies
The Status port is available only when you select the Status parameter.
Data Types: uint8
Timestamp — Timestamp at which data is read
matrix | (n
)-by-1
Timestamp (in seconds) at which data is read from the sensor, returned
as n
-by-1 matrix, where
n
is the value specified as Samples per frame.
Dependencies
This output port appears only if you select the Timestamp parameter.
Data Types: double
Parameters
I2C module — I2C communication module
0
(default) | scalar
Specify the I2C module on the Arduino® hardware to communicate with sensor peripherals. For more information on the Arduino pin mapping and modules that hardware boards support, see Pin Mapping for Arduino Timer Independent Blocks.
I2C address — I2C peripheral address of sensor
0x68
(default) | 0x69
Select the I2C address of the sensor from which the block reads the values.
Samples per frame — Number of samples that the block outputs
1
(default) | positive integer
Specify the number of samples that the block outputs.
The value that you specify here is also used to compute the output sample time:
Output sample time = Samples per frame
*
Sample time
.
Sample time — Interval to read values from sensor
–1
(default) | any nonnegative value
Specify how often the block read values from the sensor, in seconds. When
you specify this parameter as -1
, Simulink® determines the best sample time for the block based on the
block context within the model. The output sample time is the product of
Samples per frame
and Sample
time
that you specify.
Select outputs
Acceleration (m/s^2) — Acceleration including force of gravity along axes of sensor
on
(default) | off
When you select the Acceleration (m/s^2) parameter, the Accel port becomes available. For more information on the Accel port, see Accel.
Angular rate (dps) — Angle of rotation per second along axes of sensor
on
(default) | off
When you select the Angular rate (dps) parameter, the Ang rate port becomes available. For more information on the Ang rate port, see Ang rate.
Temperature (deg C) — Temperature along axes of sensor
on
(default) | off
When you select the Temperature (deg C) parameter, the Temperature port becomes available. For more information on the Temperature (deg C) port, see Temperature.
Status — Status of read operation
on
(default) | off
Select this parameter to display the status of read operation.
When you select the Status parameter, the Status port becomes available. For more information on the Status port, see Status.
Timestamp (s) — Set output port for obtaining timestamp
off
(default) | on
Select this parameter to set Timestamp as one of the output ports.
Advanced sensor settings (optional)
Accelerometer range — Range of acceleration deviation measured by accelerometer
2G
(default) | 4G
| 8G
| 16G
Select a deviation in the acceleration that the accelerometer can measure. The smaller the accelerometer range, the more sensitive the readings from the accelerometer. A small range provides more detailed data, resulting in a more precise reading from the accelerometer.
Dependencies
The Accelerometer range parameter is available only when you select the Acceleration (m/s^2) parameter.
Gyroscope range — Maximum angular velocity measured by gyroscope
250 dps
(default) | 500 dps
| 1000 dps
| 2000 dps
Specify the maximum angular velocity that the gyroscope can measure per second.
Dependencies
The Gyroscope range parameter is available only when you select the Angular rate (dps) parameter.
Accelerometer and Gyroscope bandwidth — Frequency response of accelerometer and gyroscope
Accelerometer: 184Hz, Gyroscope:
188Hz
(default) | Accelerometer: 260Hz, Gyroscope:
256Hz
| Accelerometer: 94Hz, Gyroscope:
98Hz
| Accelerometer: 44Hz, Gyroscope:
42Hz
| Accelerometer: 21Hz, Gyroscope:
20Hz
| Accelerometer: 10Hz, Gyroscope:
10Hz
| Accelerometer: 5Hz, Gyroscope: 5Hz
Specify the highest frequency at which the accelerometer and gyroscope samples the signal without aliasing.
Dependencies
The Accelerometer and Gyroscope bandwidth parameter is available only when you select the Acceleration (m/s^2) or Angular rate (dps) parameter.
Version History
Introduced in R2020a
See Also
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