【Arduino×Processing】Calculate rotation with MPU9250 and visualize with Processing

Abstract

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I had used MPU9250 with Raspberry PI before, so I did same thing with Arduino. I implemented formula to calculate yaw, but I won't use because I want to make it accurate and simple.

How it works

Arduino

At first, get acceleration and angular velocity with this library.
github.com
Then add (angular velocity * delta time) to the rotation.
$\begin{array}{l} \mathsf{rot\ is\ angular\ velocity}\\ \mathsf{dt\ is\ delta\ time}\\ roll\ -=\ rot_{x} *dt\\ pitch\ -=\ rot_{y} *dt \end{array}$
Calculate rotation from acceleration with below formula to calibrate.
$\begin{array}{l} \mathsf{acc\ is\ acceleration}\\ troll=\mathrm{atan2}( acc_{y} ,acc_{z})\\ temp=\sqrt{acc^{2}_{z} +acc^{2}_{y}}\\ tpitch=\mathrm{atan2}( acc_{x} ,temp) \end{array}$
Blend them like this.
※I used pointer to make function of this process.
$\begin{array}{l} \mathsf{fac\ is\ factor}\\ roll=( 1-fac) *roll+fac*troll \end{array}$
Finally serial print them.