support of 2 sensors

[76nic]

Dear Romain, I really like the work you have done on the library MPU6050_light. Would you consider to add support of 2 MPU sensors. Basically calling all the functions you have currently implemented with "mpu0x68.xxx" and "mpu0x69.xxx". Many thanks in advance for thinking about it! Best regards, 76nic

[rfetick]

Hello 76nic,

As far I understand your issue as already been solved. Please have a look at the previous issue here. You can also have a look at the release version 1.2.1 which solved the two sensors issue.

Please tell me if this helps

Cheers,

Romain

[76nic]

Dear Romain, many thanks for your responds and pointing me to the mpu.setAddress() functionality. I have a question regarding the mpu.calcGyroOffsets() function using 2 sensors in parallel. Is the calibration done for both sensors and stored if I call that function? Basically like the following:

MPU6050 mpuA(Wire);
MPU6050 mpuB(Wire);
void setup()
    Wire.begin();
    mpuA.setAddress(104);
    mpuA.begin();
    Serial.println(F("Calculating gyro offset, do not move MPU6050"));
    delay(1000);
    mpuA.calcGyroOffsets();
    Serial.println("Done.");
    
    mpuB.begin();
    Serial.println(F("Calculating gyro offset, do not move MPU6050"));
    delay(1000);
    mpuB.setAddress(105);
    mpuB.calcGyroOffsets();
    Serial.println("Done.");
void loop()
    mpuA.update();
    currentAngleX_A = mpuA.getAngleX();
    currentAngleY_A = mpuA.getAngleY();
    currentAngleZ_A = mpuA.getAngleZ();

    mpuB.update();
    currentAngleX_B = mpuB.getAngleX();
    currentAngleY_B = mpuB.getAngleY();
    currentAngleZ_B = mpuB.getAngleZ();

Many thanks,

• 76nic

[76nic]

sorry - the code format turned out weird by uploading - it is meant as continues code.

[rfetick]

Hello 76nic,

If you have two different MPU6050 cpp objects they evolve independently, so the calibration is independent.

Cheers,

Romain

[eiffelblithe]

"Dear Romain, many thanks for your responds and pointing me to the mpu.setAddress() functionality. I have a question regarding the mpu.calcGyroOffsets() function using 2 sensors in parallel. Is the calibration done for both sensors and stored if I call that function? Basically like the following:

MPU6050 mpuA(Wire);
MPU6050 mpuB(Wire);
void setup()
    Wire.begin();
    mpuA.setAddress(104);
    mpuA.begin();
    Serial.println(F("Calculating gyro offset, do not move MPU6050"));
    delay(1000);
    mpuA.calcGyroOffsets();
    Serial.println("Done.");
    
    mpuB.begin();
    Serial.println(F("Calculating gyro offset, do not move MPU6050"));
    delay(1000);
    mpuB.setAddress(105);
    mpuB.calcGyroOffsets();
    Serial.println("Done.");
void loop()
    mpuA.update();
    currentAngleX_A = mpuA.getAngleX();
    currentAngleY_A = mpuA.getAngleY();
    currentAngleZ_A = mpuA.getAngleZ();

    mpuB.update();
    currentAngleX_B = mpuB.getAngleX();
    currentAngleY_B = mpuB.getAngleY();
    currentAngleZ_B = mpuB.getAngleZ();

Many thanks,

• 76nic"

Hello thank you for this code but may I know how would the code be like if it is for 5 sensors and not only 2 sensors? For this code 2 registers were used but what if it is for 5 sensors? Thank you so much.