I am currently working on a quadcopter project that involves an MPU6050 accelerometer+gyroscope module, an ultrasonic sensor and control of electronic speed controllers. I have used existing examples and modified them to get raw values of acceleration, yaw pitch and roll angles, and the distance from the ultrasonic. Here is thelong code.

#include "I2Cdev.h"#include "MPU6050_6Axis_MotionApps20.h"//#include "MPU6050.h" // not necessary if using MotionApps include file#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE#include "Wire.h"#endifMPU6050 mpu;//MPU6050 mpu(0x69); // <-- use for AD0 highconst int trigPin = 9;const int echoPin = 10;#define INTERRUPT_PIN 2  // use pin 2 on Arduino Uno & most boards#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)bool blinkState = false;// MPU control/status varsbool dmpReady = false;  // set true if DMP init was successfuluint8_t mpuIntStatus;   // holds actual interrupt status byte from MPUuint8_t devStatus;uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)uint16_t fifoCount;     // count of all bytes currently in FIFOuint8_t fifoBuffer[64]; // FIFO storage buffer// orientation/motion varsQuaternion q;           // [w, x, y, z]         quaternion containerVectorInt16 aa;         // [x, y, z]            accel sensor measurementsVectorInt16 aaReal;     // [x, y, z]gravity-free accel sensor measurementsVectorInt16 aaWorld;    // [x, y, z] world-frame accel sensor measurementsVectorFloat gravity;    // [x, y, z]            gravity vectorfloat euler[3];         // [psi, theta, phi]    Euler angle containerfloat ypr[3], yprd[3] = {0, 0, 0};// packet structure for InvenSense teapot demouint8_t teapotPacket[14] = {'$', 0x02, 0, 0, 0, 0, 0, 0, 0, 0, 0x00, 0x00, '\r', '\n' };// ================================================================// ===               INTERRUPT DETECTION ROUTINE                ===// ================================================================volatile bool mpuInterrupt = false;void dmpDataReady() {  mpuInterrupt = true;}// ================================================================// ===                      INITIAL SETUP                       ===// ================================================================int16_t yo = 0, po = 0, ro = 0;int lv = 1, flag = 0;const int MPU_addr = 0x68; // I2C address of the MPU-6050int16_t AcX, AcY, AcZ, Tmp, GyX, GyY, GyZ;int32_t AcXo = 0, AcYo = 0, AcZo = 0, prev, curr;int32_t AcXd = 0, AcYd = 0, AcZd = 0;int i = 1, flaggl = 0;int  glc = 0, lv2 = 1;long duration;int distance, distanced;void setup() {#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE  Wire.begin();  Wire.setClock(400000);#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE  Fastwire::setup(400, true);#endif  Serial.begin(115200);  // initialize device  Serial.println(F("Initializing I2C devices..."));  mpu.initialize();  pinMode(INTERRUPT_PIN, INPUT);  // verify connection  Serial.println(F("Testing device connections..."));  Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));  // wait for ready  Serial.println(F("\nSend any character to begin DMP programming and demo:                   "));  while (Serial.available() && Serial.read()); // empty buffer  while (!Serial.available());                 // wait for data  while (Serial.available() && Serial.read()); // empty buffer again  // load and configure the DMP  Serial.println(F("Initializing DMP..."));  devStatus = mpu.dmpInitialize();  // supply your own gyro offsets here, scaled for min sensitivity  mpu.setXGyroOffset(220);  mpu.setYGyroOffset(76);  mpu.setZGyroOffset(-85);  mpu.setZAccelOffset(1788); // 1688 factory default for my test chip  // make sure it worked (returns 0 if so)  if (devStatus == 0) {    // turn on the DMP, now that it's ready    Serial.println(F("Enabling DMP..."));    mpu.setDMPEnabled(true);    // enable Arduino interrupt detection    Serial.println(F("Enabling interrupt detection (Arduino external                     interrupt 0)..."));    attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);    mpuIntStatus = mpu.getIntStatus();    // set our DMP Ready flag so the main loop() function knows it's okay to use it    Serial.println(F("DMP ready! Waiting for first interrupt..."));    dmpReady = true;    // get expected DMP packet size for later comparison    packetSize = mpu.dmpGetFIFOPacketSize();  } else {    // ERROR!    // 1 = initial memory load failed    // 2 = DMP configuration updates failed    // (if it's going to break, usually the code will be 1)    Serial.print(F("DMP Initialization failed (code "));    Serial.print(devStatus);    Serial.println(F(")"));  }  // configure LED for output  pinMode(LED_PIN, OUTPUT);  glc = 0;  distance = distanced = 0;}// ================================================================// ===                    MAIN PROGRAM LOOP                     ===// ================================================================void loop() {  // if programming failed, don't try to do anything  if (!dmpReady) return;  // wait for MPU interrupt or extra packet(s) available  while (!mpuInterrupt && fifoCount < packetSize) {  }  mpuInterrupt = false;  mpuIntStatus = mpu.getIntStatus();  // get current FIFO count  fifoCount = mpu.getFIFOCount();  // check for overflow (this should never happen unless our code is too inefficient)  if ((mpuIntStatus & 0x10) || fifoCount == 1024) {    // reset so we can continue cleanly    mpu.resetFIFO();    Serial.println(F("FIFO overflow!"));    // otherwise, check for DMP data ready interrupt (this should happen frequently)  } else if (mpuIntStatus & 0x02) {    // wait for correct available data length, should be a VERY short wait    while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();    // read a packet from FIFO    mpu.getFIFOBytes(fifoBuffer, packetSize);    // track FIFO count here in case there is > 1 packet available    // (this lets us immediately read more without waiting for an interrupt)    fifoCount -= packetSize;    //#ifdef OUTPUT_READABLE_YAWPITCHROLL    // display Euler angles in degrees    mpu.dmpGetQuaternion(&q, fifoBuffer);    mpu.dmpGetGravity(&gravity, &q);    mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);    if (millis() > 30000 && flag == 0) {      if ( flag == 0 && lv  < 21) {        yo += ypr[0] * 180 / M_PI;        po += ypr[1] * 180 / M_PI;        ro += ypr[2] * 180 / M_PI;        ++lv;      } else if (flag == 0) {        flag = 1;        yo /= 20;        po /= 20;        ro /= 20;      }    }    //#endif    // blink LED to indicate activity    blinkState = !blinkState;    digitalWrite(LED_PIN, blinkState);    Wire.beginTransmission(MPU_addr);    Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)    Wire.endTransmission(false);    Wire.requestFrom(MPU_addr, 14, true); // request a total of 14 registers    AcX = Wire.read() << 8 | Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C     (ACCEL_XOUT_L)    AcY = Wire.read() << 8 | Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)    AcZ = Wire.read() << 8 | Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)    Tmp = Wire.read() << 8 | Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)    GyX = Wire.read() << 8 | Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)    GyY = Wire.read() << 8 | Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)    GyZ = Wire.read() << 8 | Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)    mpu.resetFIFO();    if (i < 21 && !flaggl) {      AcXo += AcX;      AcYo += AcY;      AcZo += AcZ;      ++i;      Serial.println();      Serial.println("***************************************************************************");    } else if (!flaggl) {      flaggl = 1;      AcXo  = AcXo / 20;      AcYo = AcYo / 20;      AcZo = AcZo / 20;    }    curr = (AcZ - AcZo / 100);    if (prev == curr )      ++glc;    else {      glc = 0;      prev = curr;    }    if (glc == 10) {      Serial.println("lock broken!!!");      glc = 0;      loop();    }    if (flag == 1 && flaggl == 1) {      if (lv2 < 21) {        delayMicroseconds(2);        digitalWrite(trigPin, HIGH);        delayMicroseconds(10);        digitalWrite(trigPin, LOW);        duration = pulseIn(echoPin, HIGH);        distance = duration * 0.034 / 2;        AcXd += (AcX - AcXo) / 100;        AcYd += (AcY - AcYo) / 100;        AcZd += (AcZ - AcZo) / 100;        yprd[0] += ypr[0] * 180 / M_PI - yo;        yprd[1] += ypr[1] * 180 / M_PI - po;        yprd[2] += ypr[2] * 180 / M_PI - ro;        distanced += distance;        ++lv2;      } else {        AcXd /= 20;        AcYd /= 20;        AcZd /= 20;        yprd[0] /= 20;        yprd[1] /= 20;        yprd[2] /= 20;        distanced /= 20;        lv2 = 1;        Serial.print("AcX = ");        Serial.print(AcXd);        Serial.print(" | AcY = ");        Serial.print(AcYd);        Serial.print(" | AcZ = ");        Serial.print(AcZd);        Serial.print(" | yaw = ");        Serial.print(yprd[0]);        Serial.print(" | pitch = ");        Serial.print(yprd[1]);        Serial.print(" | roll = ");        Serial.print(yprd[2]);        Serial.print(" | distance = ");        Serial.println(distanced);        AcXd  = 0;        AcYd = 0;        AcZd = 0;        yprd[0] = 0;        yprd[1] = 0;        yprd[2] = 0;        distanced = 0;      }    }  }}

The code involves offset calculation and displays the averaged instantaneous values. After overcoming the problems of FIFO buffer overflow and some other typical issues, I've managed to get the code running but the the Arduino hangs after sometime (code tested on both Uno and Nano).

Therefore, itseems that maybe I need a higher clock speed. So, I had a look through other Arduino boards and Due seemed to be the solution, as it has a clock speed of 84MHz, compared to Uno's 16 MHz. Therefore, my question is that will the libraries and functions used in this code be compatible with the Due? Also, can the 3.3V operation of the Due, compared to Uno's 5V, present any problem in interfacing it with other sensors mentioned?

• You should probably spend some time looking atexisting post-ATmega open source aircraft designs. The chip from a DUE can probably be made to a work; a lot of incumbent designs use comparable STM32, GigaDevices, and Nuvoton ARM Cortex MCUs... and also some other MCUs and especially MCU/radio chips basically undocumented in the west.

  Chris Stratton

  – Chris Stratton

  2018-03-23 18:36:47 +00:00

  CommentedMar 23, 2018 at 18:36
• Arduino Due is a dead product, and has been from its birth. It is too powerful to be used just for flashing LEd's.Yes, you can make it work for your project but caveat emptor - do not expect much sympathy from Arduino.

  Jan Hus

  – Jan Hus

  2018-08-21 21:31:21 +00:00

  CommentedAug 21, 2018 at 21:31

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