最近ros计划介入imu消息,使用arduino 接口mpu6050,再通过串口介入ros。使用的是https://github.com/fsteinhardt/mpu6050_serial_to_imu中的开源代码。调试的时候一切都很顺利,但后来发现过一段时间就不发消息利,arduino程序报fifo overflow,后续卡死;找到的解决方法是;将arduino库中的头文件MPU6050_6Axis_MotionApps20.h中305行最后一个数字变大
0x02, 0x16, 0x02, 0x00, 0x07 //(0x07 -> 16Mhz) D_0_22 inv_set_fifo_rate (0x06 for first 8mhz board) (0x09 for 8Mhz board from Binoy)
// This very last 0x01 WAS a 0x09, which drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz,
// 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very noisy data.
// DMP output frequency is calculated easily using this equation: (200Hz / (1 + value))
// It is important to make sure the host processor can keep up with reading and processing
// the FIFO output at the desired rate. Handling FIFO overflow cleanly is also a good idea.
这个数字关系到ros平台imu topic 的频率,根据硬件性能,设置相应的数值即可,测试不报错就可以啦。