# MPU 6050 Accelorometer Gyroscope code is giving me an angle of 75 degrees when it's suppose to be 90 degrees

I used a bubble level and Angle apps to verify that my MPU 6050 is actually rotated 90 degrees. Even so, my code tells me that the MPU 6050 is rotated ~75 degrees when it is in fact rotated around 90 degrees. Can someone please help me solve this problem? I'm using Raspberry Pi 3 B with Raspbian Stretch.

``````#!/usr/bin/python

import smbus
import math

# Power management registers
power_mgmt_1 = 0x6b
power_mgmt_2 = 0x6c

def read_byte(adr):
return bus.read_byte_data(address, adr)

def read_word(adr):
high = bus.read_byte_data(address, adr)
low = bus.read_byte_data(address, adr+1)
val = (high << 8) + low
return val

def read_word_2c(adr):
val = read_word(adr)
if (val >= 0x8000):
return -((65535 - val) + 1)
else:
return val

def dist(a,b):
return math.sqrt((a*a)+(b*b))

def get_y_rotation(x,y,z):
radians = math.atan2(x, dist(y,z))
return -math.degrees(radians)

def get_x_rotation(x,y,z):
radians = math.atan2(y, dist(x,z))
return math.degrees(radians)

bus = smbus.SMBus(1) # or bus = smbus.SMBus(1) for Revision 2 boards
address = 0x68       # This is the address value read via the i2cdetect command

# Now wake the 6050 up as it starts in sleep mode
bus.write_byte_data(address, power_mgmt_1, 0)

while True:
#print("gyro data")
#print("---------")

gyro_xout = read_word_2c(0x43)
gyro_yout = read_word_2c(0x45)
gyro_zout = read_word_2c(0x47)

#print("gyro_xout: ", gyro_xout, " scaled: ", (gyro_xout / 131))
#print("gyro_yout: ", gyro_yout, " scaled: ", (gyro_yout / 131))
#print("gyro_zout: ", gyro_zout, " scaled: ", (gyro_zout / 131))

#print
#print("accelerometer data")
#print("------------------")

accel_xout = read_word_2c(0x3b)
accel_yout = read_word_2c(0x3d)
accel_zout = read_word_2c(0x3f)

accel_xout_scaled = accel_xout / 16384.0
accel_yout_scaled = accel_yout / 16384.0
accel_zout_scaled = accel_zout / 16384.0

#print("accel_xout: ", accel_xout, " scaled: ", accel_xout_scaled)
#print("accel_yout: ", accel_yout, " scaled: ", accel_yout_scaled)
#print("accel_zout: ", accel_zout, " scaled: ", accel_zout_scaled)

print("x rotation: " , get_x_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled),"\t\ty rotation: " , get_y_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled))
#print("y rotation: " , get_y_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled))
``````

## 1 Answer

You need a noise-filter data-fusion algorithm to convert the raw data from MPU into angle. Go through this instructable . It should help you achieve your goal.