https://devzone.nordicsemi.com/f/nordic-q-a/68621/there-is-a-problem-calculating-the-yaw-value-of-mpu6050Hello I&#39;m using mpu6050 to get the value of roll,pitch,yaw. I used a filter to get it right. The roll and pitch are good, but the Z-axis yaw has a strange value. There are two problems. 1. Even if the sensor stays flat, the yaw value increases slightlyen-USTelligent Community 13Mon, 04 Jan 2021 10:25:59 GMThttps://devzone.nordicsemi.com/thread/287172?ContentTypeID=1Mon, 04 Jan 2021 10:25:59 GMT137ad170-7792-4731-bb38-c0d22fbe4515:23ad05ae-23dc-4f54-804f-a79ce9327c61helsing<p>Hello,</p> <p>Sorry for not coming back to you, this case slipped trough. As I did not hear back from you in your other case regarding this sensor(which is EOL), I assumed you were not working on this anymore.</p> <p>Regarding your problem, inertial navigation systems, including MEMS gyros, are know to <a href="https://en.wikipedia.org/wiki/Inertial_navigation_system#Drift_rate">drift</a>.The yaw axis of the gyro is most sensitive to drift due to the flat form factor of the MEMS sensor IC. Have you compared the accumulation you are seeing to the manufacturer&#39;s maximum rating of the Z-axis? Nulling the gyro when in a known state is one technique for handling drift. Your sensor manufacturer might have more comments and ideas on this topic. Here is one answer regarding <a href="https://www.analog.com/en/analog-dialogue/raqs/raq-issue-139.html">accumulated gyroscope drift error over time.</a>&nbsp;</p> <p>Best regards,</p> <p>Håkon</p><div style="clear:both;"></div>https://devzone.nordicsemi.com/thread/281536?ContentTypeID=1Tue, 24 Nov 2020 12:13:34 GMT137ad170-7792-4731-bb38-c0d22fbe4515:14489480-eb40-4af5-a827-6e8c51e26ac1helsing<p>Hello</p> <p>I will be taking a look at your case this afternoon.</p> <p>Best regards,</p> <p>Håkon</p><div style="clear:both;"></div>