Artificial Horizon and Compass Using Arduino-Processing-MPU6050

we will realize our artificial horizon using Arduino, Processing and MPU 6050 IMU.

In this application I use Arduino Uno

For Arduino Uno connections will be like that:

MPU6050 Pins
Vcc
Gnd
SCL
SDA
INT

Arduino Uno Pins

3.3V
Gnd
A5
A4
2 (Digital Pin)

If our Arduino-MPU6050 system is ready, we can begin to try it. In this level, we should read three
dimensional degrees which are Phi, Theta, Psi on MPU6050 using serial monitor.
For doing this of course we need the code,
Here is the arduino code:
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
MPU6050 mpu;
#define OUTPUT_READABLE_YAWPITCHROLL
#define LED_PIN 13
bool blinkState = false;

// MPU control/status vars

bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus;
// holds actual interrupt status byte from MPU
uint8_t devStatus;
// return status after each device operation (0 = success, !0
= error)
uint16_t packetSize;
// expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;
// count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
// orientation/motion vars
Quaternion q;
// [w, x, y, z]
VectorInt16 aa;
// [x, y, z]
VectorInt16 aaReal;
// [x, y, z]
VectorInt16 aaWorld;
// [x, y, z]
VectorFloat gravity;
// [x, y, z]
float euler[3];
// [psi, theta, phi]
float ypr[3];
// [yaw, pitch, roll]
vector

quaternion container
accel sensor measurements
gravity-free accel sensor measurements
world-frame accel sensor measurements
gravity vector
Euler angle container
yaw/pitch/roll container and gravity

// packet structure for InvenSense teapot demo

uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
// ================================================================
// ===
INTERRUPT DETECTION ROUTINE
===
// ================================================================
volatile bool mpuInterrupt = false;
gone high
void dmpDataReady() {
mpuInterrupt = true;
}

// indicates whether MPU interrupt pin has

// ================================================================
// ===
INITIAL SETUP
===
// ================================================================
void setup() {
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
// initialize serial communication
// (115200 chosen because it is required for Teapot Demo output, but it's
// really up to you depending on your project)
Serial.begin(115200);
while (!Serial); // wait for Leonardo enumeration, others continue immediately
mpu.initialize();
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection

//Serial.println(F("Enabling interrupt detection (Arduino external interrupt

0)..."));
attachInterrupt(0, dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use
it

//Serial.println(F("DMP ready! Waiting for first interrupt..."));

dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
} else {
Serial.print(devStatus);
Serial.println(F(")"));
}
// configure LED for output
pinMode(LED_PIN, OUTPUT);

}
// ================================================================
// ===
MAIN PROGRAM LOOP
===
// ================================================================
void loop() {
// if programming failed, don't try to do anything
if (!dmpReady) return;
// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize) {
}
// reset interrupt flag and get INT_STATUS byte
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();
// get current FIFO count
fifoCount = mpu.getFIFOCount();
// check for overflow (this should never happen
inefficient)
if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
// reset so we can continue cleanly
mpu.resetFIFO();
//Serial.println(F("FIFO overflow!"));

unless

our

code

is

too

// otherwise, check for DMP data ready interrupt (this should happen frequently)
} else if (mpuIntStatus & 0x02) {
// wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;
#ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
mpu.dmpGetQuaternion(&q, fifoBuffer);
Serial.print("quat\t");

Serial.print(q.w);
Serial.print("\t");
Serial.print(q.x);
Serial.print("\t");
Serial.print(q.y);
Serial.print("\t");
Serial.println(q.z);
#endif
#ifdef OUTPUT_READABLE_EULER
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetEuler(euler, &q);
Serial.print("euler\t");
Serial.print(euler[0] * 180/M_PI);
Serial.print("\t");
Serial.print(euler[1] * 180/M_PI);
Serial.print("\t");
Serial.println(euler[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
//Serial.print("Phi: ");
Serial.print(ypr[2] * 18/M_PI);
//Serial.print("\t theta: ");
Serial.print(" ");
Serial.print(ypr[1] * 180/M_PI);
//Serial.print("\t Psi: ");
Serial.print(" ");
Serial.println(ypr[0] * 180/M_PI);
//delay(100);
#endif
#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
Serial.print("areal\t");
Serial.print(aaReal.x);
Serial.print("\t");
Serial.print(aaReal.y);
Serial.print("\t");
Serial.println(aaReal.z);
#endif
#ifdef OUTPUT_READABLE_WORLDACCEL
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
Serial.print("aworld\t");
Serial.print(aaWorld.x);
Serial.print("\t");
Serial.print(aaWorld.y);
Serial.print("\t");
Serial.println(aaWorld.z);

#endif
#ifdef OUTPUT_TEAPOT
// display quaternion values in InvenSense Teapot demo format:
teapotPacket[2] = fifoBuffer[0];
teapotPacket[3] = fifoBuffer[1];
teapotPacket[4] = fifoBuffer[4];
teapotPacket[5] = fifoBuffer[5];
teapotPacket[6] = fifoBuffer[8];
teapotPacket[7] = fifoBuffer[9];
teapotPacket[8] = fifoBuffer[12];
teapotPacket[9] = fifoBuffer[13];
Serial.write(teapotPacket, 14);
teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
#endif

// blink LED to indicate activity

blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);

If there is a problem with compiling the code you can need MPU and i2c library.

http://playground.arduino.cc/Main/MPU-6050

On this level we will use Adrian Fernandez's code. Of course with various fixes.
For these fixes I have focused on Arduino-MPU6050 communication. You can examine Serial event
part of code.
Here is the Processing code:
import processing.serial.*;
import cc.arduino.*;
int W=1400; //My Laptop's screen width
int H=700; //My Laptop's screen height
float Pitch;
float Bank;
float Azimuth;
float ArtificialHoizonMagnificationFactor=0.7;
float CompassMagnificationFactor=0.85;
float SpanAngle=120;
int NumberOfScaleMajorDivisions;

int NumberOfScaleMinorDivisions;
PVector v1, v2;
Serial port;
float Phi;
float Theta;
float Psi;

//Dimensional axis

void setup()
{
size(W, H);
rectMode(CENTER);
smooth();
strokeCap(SQUARE);//Optional
println(Serial.list()); //Shows your connected serial ports
port = new Serial(this, Serial.list()[0], 115200);
//Up there you should select port which arduino connected and same baud rate.
port.bufferUntil('\n');
}
void draw()
{
background(0);
translate(W/4, H/2.1);
MakeAnglesDependentOnMPU6050();
Horizon();
rotate(-Bank);
PitchScale();
Axis();
rotate(Bank);
Borders();
Plane();
ShowAngles();
Compass();
ShowAzimuth();
}
void serialEvent(Serial port) //Reading the datas by Processing.
{
String input = port.readStringUntil('\n');
if(input != null){
input = trim(input);
String[] values = split(input, " ");
if(values.length == 3){
float phi = float(values[0]);
float theta = float(values[1]);
float psi = float(values[2]);
print(phi);
print(theta);
println(psi);
Phi = phi;
Theta = theta;
Psi = psi;
}
}
}
void MakeAnglesDependentOnMPU6050()
{
Bank =-Phi/5;
Pitch=Theta*10;
Azimuth=Psi;
}
void Horizon()
{
scale(ArtificialHoizonMagnificationFactor);

noStroke();
fill(0, 180, 255);
rect(0, -100, 900, 1000);
fill(95, 55, 40);
rotate(-Bank);
rect(0, 400+Pitch, 900, 800);
rotate(Bank);
rotate(-PI-PI/6);
SpanAngle=120;
NumberOfScaleMajorDivisions=12;
NumberOfScaleMinorDivisions=24;
CircularScale();
rotate(PI+PI/6);
rotate(-PI/6);
CircularScale();
rotate(PI/6);
}
void ShowAzimuth()
{
fill(50);
noStroke();
rect(20, 470, 440, 50);
int Azimuth1=round(Azimuth);
textAlign(CORNER);
textSize(35);
fill(255);
text("Azimuth: "+Azimuth1+" Deg", 80, 477, 500, 60);
textSize(40);
fill(25,25,150);
text("M.Furkan Bahat", -350, 477, 500, 60);
}
void Compass()
{
translate(2*W/3, 0);
scale(CompassMagnificationFactor);
noFill();
stroke(100);
strokeWeight(80);
ellipse(0, 0, 750, 750);
strokeWeight(50);
stroke(50);
fill(0, 0, 40);
ellipse(0, 0, 610, 610);
for (int k=255;k>0;k=k-5)
{
noStroke();
fill(0, 0, 255-k);
ellipse(0, 0, 2*k, 2*k);
}
strokeWeight(20);
NumberOfScaleMajorDivisions=18;
NumberOfScaleMinorDivisions=36;
SpanAngle=180;
CircularScale();
rotate(PI);
SpanAngle=180;
CircularScale();
rotate(-PI);
fill(255);
textSize(60);
textAlign(CENTER);
text("W", -375, 0, 100, 80);
text("E", 370, 0, 100, 80);
text("N", 0, -365, 100, 80);
text("S", 0, 375, 100, 80);

textSize(30);
text("COMPASS", 0, -130, 500, 80);
rotate(PI/4);
textSize(40);
text("NW", -370, 0, 100, 50);
text("SE", 365, 0, 100, 50);
text("NE", 0, -355, 100, 50);
text("SW", 0, 365, 100, 50);
rotate(-PI/4);
CompassPointer();
}
void CompassPointer()
{
rotate(PI+radians(Azimuth));
stroke(0);
strokeWeight(4);
fill(100, 255, 100);
triangle(-20, -210, 20, -210, 0, 270);
triangle(-15, 210, 15, 210, 0, 270);
ellipse(0, 0, 45, 45);
fill(0, 0, 50);
noStroke();
ellipse(0, 0, 10, 10);
triangle(-20, -213, 20, -213, 0, -190);
triangle(-15, -215, 15, -215, 0, -200);
rotate(-PI-radians(Azimuth));
}
void Plane()
{
fill(0);
strokeWeight(1);
stroke(0, 255, 0);
triangle(-20, 0, 20, 0, 0, 25);
rect(110, 0, 140, 20);
rect(-110, 0, 140, 20);
}
void CircularScale()
{
float GaugeWidth=800;
textSize(GaugeWidth/30);
float StrokeWidth=1;
float an;
float DivxPhasorCloser;
float DivxPhasorDistal;
float DivyPhasorCloser;
float DivyPhasorDistal;
strokeWeight(2*StrokeWidth);
stroke(255);
float DivCloserPhasorLenght=GaugeWidth/2-GaugeWidth/9-StrokeWidth;
float DivDistalPhasorLenght=GaugeWidth/2-GaugeWidth/7.5-StrokeWidth;
for (int Division=0;Division<NumberOfScaleMinorDivisions+1;Division++)
{
an=SpanAngle/2+Division*SpanAngle/NumberOfScaleMinorDivisions;
DivxPhasorCloser=DivCloserPhasorLenght*cos(radians(an));
DivxPhasorDistal=DivDistalPhasorLenght*cos(radians(an));
DivyPhasorCloser=DivCloserPhasorLenght*sin(radians(an));
DivyPhasorDistal=DivDistalPhasorLenght*sin(radians(an));
line(DivxPhasorCloser, DivyPhasorCloser, DivxPhasorDistal, DivyPhasorDistal);
}
DivCloserPhasorLenght=GaugeWidth/2-GaugeWidth/10-StrokeWidth;
DivDistalPhasorLenght=GaugeWidth/2-GaugeWidth/7.4-StrokeWidth;
for (int Division=0;Division<NumberOfScaleMajorDivisions+1;Division++)
{
an=SpanAngle/2+Division*SpanAngle/NumberOfScaleMajorDivisions;
DivxPhasorCloser=DivCloserPhasorLenght*cos(radians(an));

DivxPhasorDistal=DivDistalPhasorLenght*cos(radians(an));
DivyPhasorCloser=DivCloserPhasorLenght*sin(radians(an));
DivyPhasorDistal=DivDistalPhasorLenght*sin(radians(an));
if
(Division==NumberOfScaleMajorDivisions/2|Division==0|
Division==NumberOfScaleMajorDivisions)
{
strokeWeight(15);
stroke(0);
line(DivxPhasorCloser, DivyPhasorCloser, DivxPhasorDistal, DivyPhasorDistal);
strokeWeight(8);
stroke(100, 255, 100);
line(DivxPhasorCloser, DivyPhasorCloser, DivxPhasorDistal, DivyPhasorDistal);
}
else
{
strokeWeight(3);
stroke(255);
line(DivxPhasorCloser, DivyPhasorCloser, DivxPhasorDistal, DivyPhasorDistal);
}
}
}
void Axis()
{
stroke(255, 0, 0);
strokeWeight(3);
line(-115, 0, 115, 0);
line(0, 280, 0, -280);
fill(100, 255, 100);
stroke(0);
triangle(0, -285, -10, -255, 10, -255);
triangle(0, 285, -10, 255, 10, 255);
}
void ShowAngles()
{
textSize(30);
fill(50);
noStroke();
rect(-150, 400, 280, 40);
rect(150, 400, 280, 40);
fill(255);
Pitch=Pitch/5;
int Pitch1=round(Pitch);
text("Pitch: "+Pitch1+" Deg", -20, 411, 500, 60);
text("Bank: "+Bank*100+" Deg", 280, 411, 500, 60);
}
void Borders()
{
noFill();
stroke(0);
strokeWeight(400);
rect(0, 0, 1100, 1100);
strokeWeight(200);
ellipse(0, 0, 1000, 1000);
fill(0);
noStroke();
rect(4*W/5, 0, W, 2*H);
rect(-4*W/5, 0, W, 2*H);
}
void PitchScale()
{
stroke(255);
fill(255);
strokeWeight(3);
textSize(24);
textAlign(CENTER);

10

for (int i=-4;i<5;i++)

{
if ((i==0)==false)
{
line(110, 50*i, -110, 50*i);
}
text(""+i*10, 140, 50*i, 100, 30);
text(""+i*10, -140, 50*i, 100, 30);
}
textAlign(CORNER);
strokeWeight(2);
for (int i=-9;i<10;i++)
{
if ((i==0)==false)
{
line(25, 25*i, -25, 25*i);
}
}
}

11