Yaw drifted after calibrating every minute

[nhungtrant]

I'm currently developing a code for the Teensy 4.1 to recalibrate the MPU6050 every minute until a triggering event occurs. However, with each recalibration, there seems to be a persistent yaw drift, gradually increasing from 0 to -11. Can you offer insights into what might be causing this issue? Additionally, during each recalibration, the offset yields a random symbol, and I'm uncertain whether this might be influencing the outcome.

Thank you

[revell1]

From memory, the MPU6050 only has Accelerometer and Gyro sensor, and no Magnetic compass, so over time, without a magnetic reference, the calibration is unable to track any magnetic rotation, I think that is what you may be seeing in your YAW drift. I think you may be able to prove that by rotating your MPU6050 so that you end up swapping the Z axis with either the X or Y axis, I think that would then move the drift from YAW to one of the other axis. I can't remember how to feed an I2C compass sensor data into the MPU6050, but I think it has some support, but has been some time since I played with that.