MPU6050 Break Out onboard 3.3V reg

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  • Item no.: PR1133
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Description

Does not work as FRAME IMU!!!

MPU6050 break out board.
Gyro und ACC in one unit.
4.7K Pullups onboard.
3.3V regulator onboard, 5V can be used directly.

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Attation:

There is one BUG in MWC v2.0, that MPU6050 DLPF setting has no effect,

Please  replace original MPU6050 Gyro_init() function with the following:

More information : http://www.multiwii.com/forum/viewtopic.php?f=8&t=1591

// ************************************************************************************************************
// I2C Gyroscope and Accelerometer MPU6050
// ************************************************************************************************************
#if defined(MPU6050)

void Gyro_init() {
  TWBR = ((16000000L / 400000L) - 16) / 2; // change the I2C clock rate to 400kHz
  i2c_writeReg(MPU6050_ADDRESS, 0x6B, 0x80);             //PWR_MGMT_1    -- DEVICE_RESET 1
  delay(5);
  i2c_writeReg(MPU6050_ADDRESS, 0x19, 0x00);             //SMPLRT_DIV    -- SMPLRT_DIV = 0  Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
  
  i2c_writeReg(MPU6050_ADDRESS, 0x6B, 0x03);             //PWR_MGMT_1    -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
  i2c_writeReg(MPU6050_ADDRESS, 0x1B, 0x18);             //GYRO_CONFIG   -- FS_SEL = 3: Full scale set to 2000 deg/sec
  // enable I2C bypass for AUX I2C
  #if defined(MAG)
    i2c_writeReg(MPU6050_ADDRESS, 0x6A, 0x00);             //USER_CTRL     -- DMP_EN=0 ; FIFO_EN=0 ; I2C_MST_EN=0 (I2C bypass mode) ; I2C_IF_DIS=0 ; FIFO_RESET=0 ; I2C_MST_RESET=0 ; SIG_COND_RESET=0
    i2c_writeReg(MPU6050_ADDRESS, 0x37, 0x02);             //INT_PIN_CFG   -- INT_LEVEL=0 ; INT_OPEN=0 ; LATCH_INT_EN=0 ; INT_RD_CLEAR=0 ; FSYNC_INT_LEVEL=0 ; FSYNC_INT_EN=0 ; I2C_BYPASS_EN=1 ; CLKOUT_EN=0
  #endif
  
  i2c_writeReg(MPU6050_ADDRESS, 0x1A, MPU6050_DLPF_CFG); //CONFIG        -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz  GYRO bandwidth = 256Hz)
  //debug2 = i2c_readReg(MPU6050_ADDRESS, 0x1A);
  
  //debug2 = MPU6050_DLPF_CFG;
}

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