本帖最后由 felix727144 于 2018-1-31 14:30 编辑
但是这几个传感器参数貌似差不多，所以还得需要多多测试，这个活不轻松。。6050和6000性能基本一致，6050多了个i2c但是采样频率不能达到8k，9250多了地磁，陀螺仪性能似乎强大了些。
https://www.invensense.com/produ ... ng/9-axis/mpu-9250/
https://blog.dronetrest.com/iner ... pu6500-vs-icm20602/
MPU6000Right now the MPU6000 is the most popular IMU sensor used on just about all the best flight controllers. Reason being is that it it can sample the gyro at 8kHz via an SPI bus, and also has great vibration tolerance. One thing to watch out for is to make sure this sensor is connected via SPI to the processor to get full use of the high speed updates. MPU6050The MPU6050 is exactly the same as the MPU6000 above, however it talks on I2C protocol, it is not often used on flight controllers because I2C is just too slow for this sort of thing and cant read the gyro at 8Khz. I would stay away from any flight controllers using this sensor.
MPU-9250 Nine-Axis (Gyro + Accelerometer + Compass) MEMS MotionTracking™ DeviceThe MPU-9250 is the company’s second generation 9-axis Motion Processing Unit™ for smartphones, tablets, wearable sensors, and other consumer markets. The MPU-9250, delivered in a 3x3x1mm QFN package, is the world’s smallest 9-axis MotionTracking device and incorporates the latest InvenSense design innovations, enabling dramatically reduced chip size and power consumption, while at the same time improving performance and cost. The MPU-9250 MotionTracking device sets a new benchmark for 9-axis performance with power consumption only 9.3μA and a size that is 44% smaller than the company’s first-generation device. Gyro noise performance is 3x better, and compass full scale range is over 4x better than competitive offerings.
The MPU-9250 is a System in Package (SiP) that combines two chips: the MPU-6500, which contains a 3-axis gyroscope, a 3-axis accelerometer, and an onboard Digital Motion Processor™ (DMP™) capable of processing complex MotionFusion algorithms; and the AK8963, the market leading 3-axis digital compass. The MPU-9250 supports InvenSense’s market proven MotionFusion. A single design can support the MPU-9250 or MPU-6500, providing customers the flexibility to support either device in different product SKUs. Improvements include supporting the accelerometer low power mode with as little as 6.4μA of and it provides improved compass data resolution of 16-bits (0.15 μT per LSB). The full scale measurement range of ±4800μT helps alleviate compass placement challenges on complex pcb’s The MPU-9250 software drivers are fully compliant with Google’s Android 4.1 Jelly Bean release, and support new low-power DMP capabilities that offload the host processor to reduce power consumption and simplify application development. The MPU-9250 includes MotionFusion and run-time calibration firmware that enables consumer electronics manufacturers to commercialize cost effective motion-based functionality.
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发表于 2018-1-31 14:25
