MPU9250
Measure acceleration, angular rate, and magnetic field, and calculate fusion values such as Euler angles and quaternion along the axes of MPU-9250 sensor
Add-On Required: This feature requires the Simulink Coder Support Package for Beaglebone Blue Hardware add-on.
Libraries:
Simulink Coder Support Package for BeagleBone Blue Hardware /
Sensors
Description
The MPU9250 block reads data from the MPU-9250 sensor that is connected to the hardware. The block has two operation modes: Random and DMP.
The block outputs acceleration, angular rate, and strength of the magnetic field along
the axes of the sensor in Random and DMP mode. In DMP mode, the block also outputs the
orientation of the sensor as an Euler angle and quaternions. The values emitted in the
Random mode are raw values, whereas the values emitted in the DMP mode are calibrated
values. The block outputs all the values except for quaternion as a 3-by-1 array of
double
data type. The quaternion is a 4-by-1 array of
double
data type.
This illustration shows the default orientation of the x-, y-, and z- axes of the MPU-9250 sensor.
If you simulate a model that contains the MPU9250 block without connecting the hardware, the block outputs zeros. For more information, see Block Produces Zeros or Does Nothing in Simulation.
Note
Before generating code from the MPU9250 block in
DMP
mode, calibrate the sensor using the calibrateGyro
, calibrateAccel
, and calibrateMag
functions. These functions calibrate the three-axis
gyroscope, accelerometer, and magnetometer located inside the sensor.
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-1 vector. In DMP mode, the elements of the vector represent calibrated values, whereas in Random mode, the elements represent raw values. 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-1 vector. In DMP mode, the elements of the vector represent calibrated values, whereas in Random mode, the elements represent raw values. 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
Mag field — Strength of magnetic field along axes of sensor
vector
The Mag field port outputs the strength of the magnetic field along the x-, y-, and z- axes of the sensor as a 3-by-1 vector. In DMP mode, the elements of the vector represent calibrated values, whereas in Random mode, the elements represent raw values. The magnetic strength is measured in μT.
Dependencies
The Mag field port is available only when you select the Magnetic field (μT) parameter.
Data Types: double
Euler — Sensor orientation given as Euler angles
vector
The Euler port outputs the orientation along the axes of the sensor as a 3-by-1 vector. The elements of the vector represent the orientation using three angular quantities – azimuth (rotation around z- axis), roll (rotation around y- axis), and pitch (rotation around x- axis) of the sensor.
Angular Quantity | Description | Range in Degrees |
---|---|---|
Azimuth | Angle between y- axis of the sensor and magnetic north | [0, 360] |
Roll | Angle between z- axis and x- axis of the sensor | [−90, 90] |
Pitch | Angle between z- axis and y- axis of the sensor | [−180, 180] |
Dependencies
The Euler port is available only when you set
the Operation mode to
DMP
and select the Euler
angles (degrees) parameter.
Data Types: double
Quat — Sensor orientation given as a quaternion
quaternion array
The Quat port outputs the orientation along the
w-, x-, y-,
and z- axes of the sensor as a 4-by-1 vector. The
orientation is measured in quaternion. For more information on
quaternions, see quaternion
(Robotics System Toolbox).
Dependencies
The Quat port is available only when you set
the Operation mode to
DMP
and select the
Quaternion (quaternion) parameter.
Data Types: double
Parameters
Operation mode — Option to output calibrated or raw values
DMP
(default) | Random
DMP
— When you set Operation mode toDMP
, the sensor operates in 9 degrees of freedom (NDOF) mode. The block outputs calibrated values from the sensor.This table lists the block output, measurement unit, dimension, and the axes of the sensor along which each of these outputs are measured.
Output Unit Dimension Axes Acceleration Meter per second squared (m/s2) 3-by-1 x, y, and z Angular rate degrees per second (dps) 3-by-1 x, y, and z Magnetic field microtesla (μT) 3-by-1 x, y, and z Euler angles degrees per second (dps) 3-by-1 x, y, and z Quaternions Quaternion units 4-by-1 w, x, y, and z Note
Before generating code from the MPU9250 block in
DMP
mode, calibrate the sensor using thecalibrateGyro
,calibrateAccel
, andcalibrateMag
functions. These functions run an internal fusion algorithm to configure the range and bandwidth of the sensor with some values.Random
— When you set Operation mode toRandom
, the sensor operates outputs raw values from the sensor.This table lists the block output, measurement unit, dimension, and the axes of the sensor along which each of these outputs are measured in
Random
mode.Output Unit Dimension Axes Acceleration Meter per second squared (m/s2) 3-by-1 x, y, and z Angular rate degrees per second (dps) 3-by-1 x, y, and z Magnetic field microtesla (μT) 3-by-1 x, y, and z
Sample time — Interval to read values from sensor
0.1
(default) | -1
| 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.
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.
Magnetic field (μT) — Strength of magnetic field along axes of sensor
on
(default) | off
When you select the Magnetic field (μT) parameter, the Mag field port becomes available. For more information on the Mag field port, see Mag field.
Data Types: double
Euler angles (degrees) — Orientation along axes of sensor
off
(default) | on
When you select the Euler angles (degrees) parameter, the Euler port becomes available. For more information on the Euler port, see Euler.
Dependencies
The Euler angles (degrees) parameter is
available only when you set the Operation mode
to DMP
.
Quaternion (quaternion) — Orientation along axes of sensor
off
(default) | on
When you select the Quaternion (quaternion) parameter, the Quat port becomes available. For more information on the Quat port, see Quat.
Dependencies
The Quaternion (quaternion) parameter is
available only when you set the Operation mode
to DMP
Data Types: double
Advanced Sensor Settings
Accelerometer range — Range of acceleration deviation measured by accelerometer
4G
(default) | 2G
| 8G
| 16G
Select a deviation in the acceleration that the accelerometer can measure. The smaller the accelerometer range is, the more sensitive the readings from the accelerometer are. 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 set the Operation mode
to Random
.
Accelerometer bandwidth — Frequency response of accelerometer
1
(default) | 0
| 2
| 3
| 4
| 5
| 6
| 7
Specify the highest frequency at which the accelerometer samples the signal without aliasing by the specified DMP ODR.
Dependencies
The Accelerometer bandwidth parameter is
available only when you set the Operation mode
to Random
.
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 set the Operation mode to
Random
.
Gyroscope bandwidth — Frequency response of gyroscope
1
(default) | 0
| 2
| 3
| 4
| 5
| 6
| 7
Specify the highest frequency at which the gyroscope samples the signal without aliasing by the specified DMP ODR.
Dependencies
The Gyroscope bandwidth parameter is
available only when you set the Operation mode
to Random
.
DMP ODR — Rate at which data is sampled
200
(default) | 100
| 50
| 40
| 20
| 10
| 8
| 5
| 4
Specify how many times the sensor measures the values per second.
Dependencies
The DMP ODR parameter is available only when
you set the Operation mode to
DMP
Data Types: double
Version History
Introduced in R2019a
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