User Manual

MPU6050 Settings
Various sensor settings
• Gyro (deg/sec) – Selects the full-scale range of the three axis gyroscope of ±250, ±500,
±1000, and ±2000°/sec. The lower the value, the better the resolution. However, if you
exceed the gyro range during flight, the multicopter will spin quickly and lose orientation (so
self level will not work properly). Keep this value low for accurate flight, eg FPV. Beginners
should stick with the default of 500. Experienced acrobatic flyers should increase this value
to 2000 to ensure they do not exceed the range during their manoeuvres.
• Acc (+/- g) – Selects the full-scale range of the three axis accelerometer of ±2g, ±4g, ±8g and
±16g. The lower the value, the better the resolution. Keep this value low for accurate flight,
eg FPV. Beginners should stick with the default of 4. Note, if you change this value, you will
have to calibrate the ACC again.
• Filter (Hz) – Digital low pass filter applied to gyro and accelerometer. The higher the value,
the less filtering is applied to the sensor readings. Lower values smooth the sensor reading
out over time. This causes problems with the PI control loop while masking vibrations. It is
best to leave this value at 256 and fix your vibration problems (balance props etc).
• Changing any of the above settings may require small changes to your PI settings.
• Ideal FPV settings for extremely accurate flying with a balanced multicopter would be with
Self Level on, a gyroscope rate of ±250°/sec, an accelerometer rate of ±2g and a filter setting
of 256Hz. In reality, to allow some freedom, the settings may be ±500°/sec and ±4g.
• Ideal acro settings to allow extreme manoeuvres would be with Self Level off, a gyroscope
rate of ±2000°/sec, an accelerometer rate of ±16g and a filter setting of 256Hz.