NRF 51822 & MPU 9250 Source code

[Rakesh]

Hi Sir,

I have a NRF 51822 board & MPU 9250 sensor. I want to read YAW,PITCH,ROLL,ACC_X,ACC_Y,ACC_Z,GX,GY,GZ,MX,MY,MZ values from MPU Sensor.

Could you please share a working code which i can able to read all above values.

Thanks in advance.

[Rakesh]

Hi Sir,

We could able to read all these below values.

ACC_X,ACC_Y,ACC_Z,GX,GY,GZ,MX,MY,MZ,

Could you help me how to calculate YAW,PITCH,ROLL values, so that it would be really helpfull for us.

[Rakesh]

Hello, Is this a right way??

ypr[0] = atan2(2 * q[1] * q[2] - 2 * q[0] * q[3], 2 * q[0]q[0] + 2 * q[1] * q[1] - 1); ypr[1] = atan(gx / sqrt(gygy + gzgz)); ypr[2] = atan(gy / sqrt(gxgx + gz*gz));