The hardware used in this demonstration will be the following:
\nGY-521 MPU6050
\nArduino Uno
\nESP32-Cam
\nESP32-USB-Module
\nPatch wiring
\nUSB cables
\nWindows 10 laptop<\/p>\n
The MPU6050 is connected to the Arduino Uno using the following pin connections, as shown in the images below.<\/p>\n
Red patch wire from VCC to 5V
\nBlack patch wire from GND to GND
\nYellow patch wire from SCL to A5
\nGreen patch wire from SDA to A4
\nPurple patch wire from INT to Digital Pin 2<\/p>\n
The Arduino code used is shown below, this was sourced from M.Furkan Bahat’s work. Although the libraries I2Cdev.h and MPU6050_6Axis_MotionApps20.h needed to be installed, sourced here https:\/\/github.com\/jrowberg\/i2cdevlib<\/a>, no additional changes were needed.<\/p>\n <\/p>\n The Processing 3 Code used is shown below. Again, this was sourced from M.Furkan Bahat’s work. The cc.arduino was not installed by default and was required. In addition, these changes were made to the code due to issues with the version of Processing used, which was version 3.5.4.<\/p>\n <\/p>\n <\/p>\n In this configuration, a view live of data with Processing was possible.<\/p>\n The next step was to capture a GY-521 data stream to a file. This data stream sample would be used for offline viewing. Putty was used to capture a log of the serial stream. The log file was edited so it only contained valid data, below is a sample.<\/p>\n <\/p>\n The ESP32-Cam module will be used to stream log file back to Processing through its serial output. The ESP32-Cam module features an onboard MicroSD storage slot, with the memory card containing the log data in a file. Code was sourced that would serial output the log file line by line with delays between, the purpose being a mock-up of the GY-521 serial data stream generated by the Arduino Uno. Below is the code used. <\/p>\n Reading the data from the MicroSD card was successful. The ESP32-Cam flash LED blinked when data was read. A delay was used to mimic the live stream interval from the GY-521 sensor, however this later proved to be inaccurate and at best an approximated guess. Below is that change made to the code.<\/p>\n <\/p>\n The serial data stream to console worked, but Processing did not show any stream data. The ESP32-Cam flash LED did not light, indicating no read functions. There is mention online about interrupts causing issues like this and referenced the following link, source – https:\/\/playground.arduino.cc\/Main\/DisablingAutoResetOnSerialConnection\/<\/a>. The issue was caused by an interrupt on the ESP32-Cam USB module board. This was corrected by isolating the connections from the ESP32-Cam to the USB module board. Only the following connections were used. Below are images of that configuration.<\/p>\n Black – GND Processing then handled the data stream from the ESP32-Cam module the same as it did from the GY-521. There was some other trouble with Processing on system with multiple COM ports. The workaround was to disable those unused COM ports in order for the stream to work. This is something to be aware of with multiple simultaneous Arduino Uno or ESP32-USB-Module connections<\/p>\n![\"\"](\"https:\/\/www.cloudacm.com\/wp-content\/uploads\/2021\/12\/MPU6050_ArduinoUno-300x281.jpg\")
<\/a>
\n![\"\"](\"https:\/\/www.cloudacm.com\/wp-content\/uploads\/2021\/12\/GY-651_MPU6050-285x300.png\")
<\/a>
\n![\"\"](\"https:\/\/www.cloudacm.com\/wp-content\/uploads\/2021\/12\/ArduinoUno-300x171.png\")
<\/a><\/p>\n\/\/ M.Furkan Bahat , November 2014\r\n\/\/ For more information http:\/\/mfurkanbahat.blogspot.com.tr\/\r\n\r\n\/\/ Source - https:\/\/mfurkanbahat.blogspot.com\/2014\/11\/artificial-horizon-and-compass-using.html\r\n\/\/ ArtificialHorizonCompass.ino\r\n\r\n\/\/ Needed https:\/\/github.com\/jrowberg\/i2cdevlib for I2Cdev.h and MPU6050_6Axis_MotionApps20.h\r\n\r\n#include \"I2Cdev.h\"\r\n#include \"MPU6050_6Axis_MotionApps20.h\"\r\n\r\n#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE\r\n #include \"Wire.h\"\r\n#endif\r\n\r\nMPU6050 mpu;\r\n#define OUTPUT_READABLE_YAWPITCHROLL\r\n#define LED_PIN 13 \r\nbool blinkState = false;\r\n\r\n\/\/ MPU control\/status vars\r\nbool dmpReady = false; \/\/ set true if DMP init was successful\r\nuint8_t mpuIntStatus; \/\/ holds actual interrupt status byte from MPU\r\nuint8_t devStatus; \/\/ return status after each device operation (0 = success, !0 = error)\r\nuint16_t packetSize; \/\/ expected DMP packet size (default is 42 bytes)\r\nuint16_t fifoCount; \/\/ count of all bytes currently in FIFO\r\nuint8_t fifoBuffer[64]; \/\/ FIFO storage buffer\r\n\r\n\/\/ orientation\/motion vars\r\nQuaternion q; \/\/ [w, x, y, z] quaternion container\r\nVectorInt16 aa; \/\/ [x, y, z] accel sensor measurements\r\nVectorInt16 aaReal; \/\/ [x, y, z] gravity-free accel sensor measurements\r\nVectorInt16 aaWorld; \/\/ [x, y, z] world-frame accel sensor measurements\r\nVectorFloat gravity; \/\/ [x, y, z] gravity vector\r\nfloat euler[3]; \/\/ [psi, theta, phi] Euler angle container\r\nfloat ypr[3]; \/\/ [yaw, pitch, roll] yaw\/pitch\/roll container and gravity vector\r\n\r\n\/\/ packet structure for InvenSense teapot demo\r\nuint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\\r', '\\n' };\r\n\r\n\/\/ ================================================================\r\n\/\/ === INTERRUPT DETECTION ROUTINE ===\r\n\/\/ ================================================================\r\n\r\nvolatile bool mpuInterrupt = false; \/\/ indicates whether MPU interrupt pin has gone high\r\nvoid dmpDataReady() {\r\n mpuInterrupt = true;\r\n}\r\n\r\n\/\/ ================================================================\r\n\/\/ === INITIAL SETUP ===\r\n\/\/ ================================================================\r\n\r\nvoid setup() {\r\n \/\/ join I2C bus (I2Cdev library doesn't do this automatically)\r\n #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE\r\n Wire.begin();\r\n TWBR = 24; \/\/ 400kHz I2C clock (200kHz if CPU is 8MHz)\r\n #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE\r\n Fastwire::setup(400, true);\r\n #endif\r\n\r\n \/\/ initialize serial communication\r\n \/\/ (115200 chosen because it is required for Teapot Demo output, but it's\r\n \/\/ really up to you depending on your project)\r\n Serial.begin(115200);\r\n while (!Serial); \/\/ wait for Leonardo enumeration, others continue immediately\r\n mpu.initialize();\r\n devStatus = mpu.dmpInitialize();\r\n\r\n \/\/ supply your own gyro offsets here, scaled for min sensitivity\r\n mpu.setXGyroOffset(220);\r\n mpu.setYGyroOffset(76);\r\n mpu.setZGyroOffset(-85);\r\n mpu.setZAccelOffset(1788); \/\/ 1688 factory default for my test chip\r\n\r\n \/\/ make sure it worked (returns 0 if so)\r\n if (devStatus == 0) {\r\n mpu.setDMPEnabled(true);\r\n\r\n \/\/ enable Arduino interrupt detection\r\n \/\/Serial.println(F(\"Enabling interrupt detection (Arduino external interrupt 0)...\"));\r\n attachInterrupt(0, dmpDataReady, RISING);\r\n mpuIntStatus = mpu.getIntStatus();\r\n\r\n \/\/ set our DMP Ready flag so the main loop() function knows it's okay to use it\r\n \/\/Serial.println(F(\"DMP ready! Waiting for first interrupt...\"));\r\n dmpReady = true;\r\n\r\n \/\/ get expected DMP packet size for later comparison\r\n packetSize = mpu.dmpGetFIFOPacketSize();\r\n } else {\r\n \r\n Serial.print(devStatus);\r\n Serial.println(F(\")\"));\r\n }\r\n\r\n \/\/ configure LED for output\r\n pinMode(LED_PIN, OUTPUT);\r\n}\r\n\r\n\/\/ ================================================================\r\n\/\/ === MAIN PROGRAM LOOP ===\r\n\/\/ ================================================================\r\n\r\nvoid loop() {\r\n \/\/ if programming failed, don't try to do anything\r\n if (!dmpReady) return;\r\n\r\n \/\/ wait for MPU interrupt or extra packet(s) available\r\n while (!mpuInterrupt && fifoCount < packetSize) {\r\n \r\n }\r\n\r\n \/\/ reset interrupt flag and get INT_STATUS byte\r\n mpuInterrupt = false;\r\n mpuIntStatus = mpu.getIntStatus();\r\n\r\n \/\/ get current FIFO count\r\n fifoCount = mpu.getFIFOCount();\r\n\r\n \/\/ check for overflow (this should never happen unless our code is too inefficient)\r\n if ((mpuIntStatus & 0x10) || fifoCount == 1024) {\r\n \/\/ reset so we can continue cleanly\r\n mpu.resetFIFO();\r\n \/\/Serial.println(F(\"FIFO overflow!\"));\r\n\r\n \/\/ otherwise, check for DMP data ready interrupt (this should happen frequently)\r\n } else if (mpuIntStatus & 0x02) {\r\n \/\/ wait for correct available data length, should be a VERY short wait\r\n while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();\r\n\r\n \/\/ read a packet from FIFO\r\n mpu.getFIFOBytes(fifoBuffer, packetSize);\r\n \r\n \/\/ track FIFO count here in case there is > 1 packet available\r\n \/\/ (this lets us immediately read more without waiting for an interrupt)\r\n fifoCount -= packetSize;\r\n\r\n #ifdef OUTPUT_READABLE_QUATERNION\r\n \/\/ display quaternion values in easy matrix form: w x y z\r\n mpu.dmpGetQuaternion(&q, fifoBuffer);\r\n Serial.print(\"quat\\t\");\r\n Serial.print(q.w);\r\n Serial.print(\"\\t\");\r\n Serial.print(q.x);\r\n Serial.print(\"\\t\");\r\n Serial.print(q.y);\r\n Serial.print(\"\\t\");\r\n Serial.println(q.z);\r\n #endif\r\n\r\n #ifdef OUTPUT_READABLE_EULER\r\n \/\/ display Euler angles in degrees\r\n mpu.dmpGetQuaternion(&q, fifoBuffer);\r\n mpu.dmpGetEuler(euler, &q);\r\n Serial.print(\"euler\\t\");\r\n Serial.print(euler[0] * 180\/M_PI);\r\n Serial.print(\"\\t\");\r\n Serial.print(euler[1] * 180\/M_PI);\r\n Serial.print(\"\\t\");\r\n Serial.println(euler[2] * 180\/M_PI);\r\n #endif\r\n\r\n #ifdef OUTPUT_READABLE_YAWPITCHROLL\r\n \/\/ display Euler angles in degrees\r\n mpu.dmpGetQuaternion(&q, fifoBuffer);\r\n mpu.dmpGetGravity(&gravity, &q);\r\n mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);\r\n \/\/Serial.print(\"Phi: \");\r\n Serial.print(ypr[2] * 18\/M_PI);\r\n \/\/Serial.print(\"\\t theta: \");\r\n Serial.print(\" \");\r\n Serial.print(ypr[1] * 180\/M_PI);\r\n \/\/Serial.print(\"\\t Psi: \");\r\n Serial.print(\" \");\r\n Serial.println(ypr[0] * 180\/M_PI);\r\n \/\/delay(100);\r\n #endif\r\n\r\n #ifdef OUTPUT_READABLE_REALACCEL\r\n \/\/ display real acceleration, adjusted to remove gravity\r\n mpu.dmpGetQuaternion(&q, fifoBuffer);\r\n mpu.dmpGetAccel(&aa, fifoBuffer);\r\n mpu.dmpGetGravity(&gravity, &q);\r\n mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);\r\n Serial.print(\"areal\\t\");\r\n Serial.print(aaReal.x);\r\n Serial.print(\"\\t\");\r\n Serial.print(aaReal.y);\r\n Serial.print(\"\\t\");\r\n Serial.println(aaReal.z);\r\n #endif\r\n\r\n #ifdef OUTPUT_READABLE_WORLDACCEL\r\n \/\/ display initial world-frame acceleration, adjusted to remove gravity\r\n \/\/ and rotated based on known orientation from quaternion\r\n mpu.dmpGetQuaternion(&q, fifoBuffer);\r\n mpu.dmpGetAccel(&aa, fifoBuffer);\r\n mpu.dmpGetGravity(&gravity, &q);\r\n mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);\r\n mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);\r\n Serial.print(\"aworld\\t\");\r\n Serial.print(aaWorld.x);\r\n Serial.print(\"\\t\");\r\n Serial.print(aaWorld.y);\r\n Serial.print(\"\\t\");\r\n Serial.println(aaWorld.z);\r\n #endif\r\n \r\n #ifdef OUTPUT_TEAPOT\r\n \/\/ display quaternion values in InvenSense Teapot demo format:\r\n teapotPacket[2] = fifoBuffer[0];\r\n teapotPacket[3] = fifoBuffer[1];\r\n teapotPacket[4] = fifoBuffer[4];\r\n teapotPacket[5] = fifoBuffer[5];\r\n teapotPacket[6] = fifoBuffer[8];\r\n teapotPacket[7] = fifoBuffer[9];\r\n teapotPacket[8] = fifoBuffer[12];\r\n teapotPacket[9] = fifoBuffer[13];\r\n Serial.write(teapotPacket, 14);\r\n teapotPacket[11]++; \/\/ packetCount, loops at 0xFF on purpose\r\n #endif\r\n\r\n \/\/ blink LED to indicate activity\r\n blinkState = !blinkState;\r\n digitalWrite(LED_PIN, blinkState);\r\n }\r\n}\r\n<\/pre>\n\/\/ size(W, H); Processing didn't like this\r\nsize(1400, 700);<\/pre>\n
\/\/Thanks to Adrian Fernandez\r\n\/\/Communication updates by M.Furkan Bahat November 2014\r\n\/\/For more information http:\/\/mfurkanbahat.blogspot.com.tr\/\r\n\r\n\/\/ Source - https:\/\/mfurkanbahat.blogspot.com\/2014\/11\/artificial-horizon-and-compass-using.html\r\n\/\/ ArtificialHorizonCompass.pde\r\n\r\n\/\/ Works with Arduino Uno and live data\r\n\/\/ Not working with stored data from ESP23-Cam MicroSD log file\r\n\/\/ See - https:\/\/learn.sparkfun.com\/tutorials\/connecting-arduino-to-processing\/all\r\n\r\nimport processing.serial.*;\r\nimport cc.arduino.*;\r\n\r\nint W=1400; \/\/My Laptop's screen width \r\nint H=700; \/\/My Laptop's screen height \r\nfloat Pitch; \r\nfloat Bank; \r\nfloat Azimuth; \r\nfloat ArtificialHoizonMagnificationFactor=0.7; \r\nfloat CompassMagnificationFactor=0.85; \r\nfloat SpanAngle=120; \r\nint NumberOfScaleMajorDivisions; \r\nint NumberOfScaleMinorDivisions; \r\nPVector v1, v2; \r\n\r\n\r\nSerial port;\r\nfloat Phi; \/\/Dimensional axis\r\nfloat Theta;\r\nfloat Psi;\r\n\r\nvoid setup() \r\n{ \r\n \/\/ size(W, H); WRONG - Processing didn't like this\r\n size(1400, 700); \r\n rectMode(CENTER); \r\n smooth(); \r\n strokeCap(SQUARE);\/\/Optional \r\n \r\n println(Serial.list()); \/\/Shows your connected serial ports\r\n port = new Serial(this, Serial.list()[0], 115200); \r\n \/\/Up there you should select port which arduino connected and same baud rate.\r\n port.bufferUntil('\\n'); \r\n}\r\nvoid draw() \r\n{ \r\n background(0); \r\n translate(W\/4, H\/2.1); \r\n MakeAnglesDependentOnMPU6050(); \r\n Horizon(); \r\n rotate(-Bank); \r\n PitchScale(); \r\n Axis(); \r\n rotate(Bank); \r\n Borders(); \r\n Plane(); \r\n ShowAngles(); \r\n Compass(); \r\n ShowAzimuth(); \r\n}\r\nvoid serialEvent(Serial port) \/\/Reading the datas by Processing.\r\n{\r\n String input = port.readStringUntil('\\n');\r\n if(input != null){\r\n input = trim(input);\r\n String[] values = split(input, \" \");\r\n if(values.length == 3){\r\n float phi = float(values[0]);\r\n float theta = float(values[1]); \r\n float psi = float(values[2]); \r\n print(phi);\r\n print(theta);\r\n println(psi);\r\n Phi = phi;\r\n Theta = theta;\r\n Psi = psi;\r\n }\r\n }\r\n}\r\nvoid MakeAnglesDependentOnMPU6050() \r\n{ \r\n Bank =-Phi\/5; \r\n Pitch=Theta*10; \r\n Azimuth=Psi;\r\n}\r\nvoid Horizon() \r\n{ \r\n scale(ArtificialHoizonMagnificationFactor); \r\n noStroke(); \r\n fill(0, 180, 255); \r\n rect(0, -100, 900, 1000); \r\n fill(95, 55, 40); \r\n rotate(-Bank); \r\n rect(0, 400+Pitch, 900, 800); \r\n rotate(Bank); \r\n rotate(-PI-PI\/6); \r\n SpanAngle=120; \r\n NumberOfScaleMajorDivisions=12; \r\n NumberOfScaleMinorDivisions=24; \r\n CircularScale(); \r\n rotate(PI+PI\/6); \r\n rotate(-PI\/6); \r\n CircularScale(); \r\n rotate(PI\/6); \r\n}\r\nvoid ShowAzimuth() \r\n{ \r\n fill(50); \r\n noStroke(); \r\n rect(20, 470, 440, 50); \r\n int Azimuth1=round(Azimuth); \r\n textAlign(CORNER); \r\n textSize(35); \r\n fill(255); \r\n text(\"Azimuth: \"+Azimuth1+\" Deg\", 80, 477, 500, 60); \r\n textSize(40);\r\n fill(25,25,150);\r\n text(\"M.Furkan Bahat\", -350, 477, 500, 60); \r\n}\r\nvoid Compass() \r\n{ \r\n translate(2*W\/3, 0); \r\n scale(CompassMagnificationFactor); \r\n noFill(); \r\n stroke(100); \r\n strokeWeight(80); \r\n ellipse(0, 0, 750, 750); \r\n strokeWeight(50); \r\n stroke(50); \r\n fill(0, 0, 40); \r\n ellipse(0, 0, 610, 610); \r\n for (int k=255;k>0;k=k-5) \r\n { \r\n noStroke(); \r\n fill(0, 0, 255-k); \r\n ellipse(0, 0, 2*k, 2*k); \r\n } \r\n strokeWeight(20); \r\n NumberOfScaleMajorDivisions=18; \r\n NumberOfScaleMinorDivisions=36; \r\n SpanAngle=180; \r\n CircularScale(); \r\n rotate(PI); \r\n SpanAngle=180; \r\n CircularScale(); \r\n rotate(-PI); \r\n fill(255); \r\n textSize(60); \r\n textAlign(CENTER); \r\n text(\"W\", -375, 0, 100, 80); \r\n text(\"E\", 370, 0, 100, 80); \r\n text(\"N\", 0, -365, 100, 80); \r\n text(\"S\", 0, 375, 100, 80); \r\n textSize(30); \r\n text(\"COMPASS\", 0, -130, 500, 80); \r\n rotate(PI\/4); \r\n textSize(40); \r\n text(\"NW\", -370, 0, 100, 50); \r\n text(\"SE\", 365, 0, 100, 50); \r\n text(\"NE\", 0, -355, 100, 50); \r\n text(\"SW\", 0, 365, 100, 50); \r\n rotate(-PI\/4); \r\n CompassPointer(); \r\n}\r\nvoid CompassPointer() \r\n{ \r\n rotate(PI+radians(Azimuth)); \r\n stroke(0); \r\n strokeWeight(4); \r\n fill(100, 255, 100); \r\n triangle(-20, -210, 20, -210, 0, 270); \r\n triangle(-15, 210, 15, 210, 0, 270); \r\n ellipse(0, 0, 45, 45); \r\n fill(0, 0, 50); \r\n noStroke(); \r\n ellipse(0, 0, 10, 10); \r\n triangle(-20, -213, 20, -213, 0, -190); \r\n triangle(-15, -215, 15, -215, 0, -200); \r\n rotate(-PI-radians(Azimuth)); \r\n}\r\nvoid Plane() \r\n{ \r\n fill(0); \r\n strokeWeight(1); \r\n stroke(0, 255, 0); \r\n triangle(-20, 0, 20, 0, 0, 25); \r\n rect(110, 0, 140, 20); \r\n rect(-110, 0, 140, 20); \r\n}\r\nvoid CircularScale() \r\n{ \r\n float GaugeWidth=800; \r\n textSize(GaugeWidth\/30); \r\n float StrokeWidth=1; \r\n float an; \r\n float DivxPhasorCloser; \r\n float DivxPhasorDistal; \r\n float DivyPhasorCloser; \r\n float DivyPhasorDistal; \r\n strokeWeight(2*StrokeWidth); \r\n stroke(255);\r\n float DivCloserPhasorLenght=GaugeWidth\/2-GaugeWidth\/9-StrokeWidth; \r\n float DivDistalPhasorLenght=GaugeWidth\/2-GaugeWidth\/7.5-StrokeWidth;\r\n for (int Division=0;Division<NumberOfScaleMinorDivisions+1;Division++) \r\n { \r\n an=SpanAngle\/2+Division*SpanAngle\/NumberOfScaleMinorDivisions; \r\n DivxPhasorCloser=DivCloserPhasorLenght*cos(radians(an)); \r\n DivxPhasorDistal=DivDistalPhasorLenght*cos(radians(an)); \r\n DivyPhasorCloser=DivCloserPhasorLenght*sin(radians(an)); \r\n DivyPhasorDistal=DivDistalPhasorLenght*sin(radians(an)); \r\n line(DivxPhasorCloser, DivyPhasorCloser, DivxPhasorDistal, DivyPhasorDistal); \r\n }\r\n DivCloserPhasorLenght=GaugeWidth\/2-GaugeWidth\/10-StrokeWidth; \r\n DivDistalPhasorLenght=GaugeWidth\/2-GaugeWidth\/7.4-StrokeWidth;\r\n for (int Division=0;Division<NumberOfScaleMajorDivisions+1;Division++) \r\n { \r\n an=SpanAngle\/2+Division*SpanAngle\/NumberOfScaleMajorDivisions; \r\n DivxPhasorCloser=DivCloserPhasorLenght*cos(radians(an)); \r\n DivxPhasorDistal=DivDistalPhasorLenght*cos(radians(an)); \r\n DivyPhasorCloser=DivCloserPhasorLenght*sin(radians(an)); \r\n DivyPhasorDistal=DivDistalPhasorLenght*sin(radians(an)); \r\n if (Division==NumberOfScaleMajorDivisions\/2|Division==0|Division==NumberOfScaleMajorDivisions) \r\n { \r\n strokeWeight(15); \r\n stroke(0); \r\n line(DivxPhasorCloser, DivyPhasorCloser, DivxPhasorDistal, DivyPhasorDistal); \r\n strokeWeight(8); \r\n stroke(100, 255, 100); \r\n line(DivxPhasorCloser, DivyPhasorCloser, DivxPhasorDistal, DivyPhasorDistal); \r\n } \r\n else \r\n { \r\n strokeWeight(3); \r\n stroke(255); \r\n line(DivxPhasorCloser, DivyPhasorCloser, DivxPhasorDistal, DivyPhasorDistal); \r\n } \r\n } \r\n}\r\nvoid Axis() \r\n{ \r\n stroke(255, 0, 0); \r\n strokeWeight(3); \r\n line(-115, 0, 115, 0); \r\n line(0, 280, 0, -280); \r\n fill(100, 255, 100); \r\n stroke(0); \r\n triangle(0, -285, -10, -255, 10, -255); \r\n triangle(0, 285, -10, 255, 10, 255); \r\n}\r\nvoid ShowAngles() \r\n{ \r\n textSize(30); \r\n fill(50); \r\n noStroke(); \r\n rect(-150, 400, 280, 40); \r\n rect(150, 400, 280, 40); \r\n fill(255); \r\n Pitch=Pitch\/5; \r\n int Pitch1=round(Pitch); \r\n text(\"Pitch: \"+Pitch1+\" Deg\", -20, 411, 500, 60); \r\n text(\"Bank: \"+Bank*100+\" Deg\", 280, 411, 500, 60); \r\n}\r\nvoid Borders() \r\n{ \r\n noFill(); \r\n stroke(0); \r\n strokeWeight(400); \r\n rect(0, 0, 1100, 1100); \r\n strokeWeight(200); \r\n ellipse(0, 0, 1000, 1000); \r\n fill(0); \r\n noStroke(); \r\n rect(4*W\/5, 0, W, 2*H); \r\n rect(-4*W\/5, 0, W, 2*H); \r\n}\r\nvoid PitchScale() \r\n{ \r\n stroke(255); \r\n fill(255); \r\n strokeWeight(3); \r\n textSize(24); \r\n textAlign(CENTER); \r\n for (int i=-4;i<5;i++) \r\n { \r\n if ((i==0)==false) \r\n { \r\n line(110, 50*i, -110, 50*i); \r\n } \r\n text(\"\"+i*10, 140, 50*i, 100, 30); \r\n text(\"\"+i*10, -140, 50*i, 100, 30); \r\n } \r\n textAlign(CORNER); \r\n strokeWeight(2); \r\n for (int i=-9;i<10;i++) \r\n { \r\n if ((i==0)==false) \r\n { \r\n line(25, 25*i, -25, 25*i); \r\n } \r\n } \r\n}\r\n<\/pre>\n![\"\"](\"https:\/\/www.cloudacm.com\/wp-content\/uploads\/2021\/12\/Processing_ArtificialHorizonCompass-1024x504.png\")
<\/a><\/p>\n0.02 -0.15 0.06\r\n0.02 -0.22 0.11\r\n0.01 -0.30 0.14\r\n0.00 -0.38 0.17\r\n-0.01 -0.45 0.21\r\n-0.01 -0.52 0.24\r\n-0.02 -0.59 0.28\r\n-0.03 -0.66 0.31\r\n-0.03 -0.73 0.35\r\n-0.04 -0.80 0.38\r\n-0.05 -0.87 0.42\r\n-0.05 -0.94 0.45\r\n-0.06 -1.00 0.49\r\n-0.07 -1.07 0.53\r\n-0.07 -1.13 0.56\r\n-0.08 -1.19 0.59\r\n-0.08 -1.25 0.63\r\n-0.09 -1.32 0.66\r\n-0.10 -1.38 0.70\r\n-0.10 -1.44 0.74\r\n-0.11 -1.50 0.77\r\n-0.11 -1.56 0.80\r\n-0.12 -1.61 0.84<\/pre>\n
\nSource – https:\/\/arduino.stackexchange.com\/questions\/63468\/reading-text-line-by-line-from-sd<\/a><\/p>\n\/\/ MicroSD_Line-Read_Ver2.ino\r\n\r\n\/\/ Source - https:\/\/arduino.stackexchange.com\/questions\/63468\/reading-text-line-by-line-from-sd\r\n\r\n#include \"FS.h\"\r\n#include \"SD_MMC.h\" \r\n\r\nvoid setup() {\r\n\r\n Serial.begin(115200);\r\n Serial.println(\"SDcard Testing....\");\r\n\r\n if(!SD_MMC.begin()){\r\n Serial.println(\"Card Mount Failed\");\r\n return;\r\n }\r\n uint8_t cardType = SD_MMC.cardType();\r\n\r\n if(cardType == CARD_NONE){\r\n Serial.println(\"No SD_MMC card attached\");\r\n return;\r\n }\r\n\r\n}\r\n\r\n\r\nvoid loop() {\r\n \r\n readFile(SD_MMC, \"\/Log.txt\");\r\n \r\n \r\n \/\/ put your main code here, to run repeatedly:\r\n}\r\n\r\n\r\n\r\n\r\n\r\n\/\/Read a file in SD card\r\nvoid readFile(fs::FS &fs, const char * path){\r\n\r\n File LogFile = fs.open(path);\r\n \r\n if(!LogFile){\r\n Serial.println(\"Failed to open file for reading\");\r\n return;\r\n }\r\n\r\n while(LogFile.available()){\r\n String line = LogFile.readStringUntil('\\n');\r\n Serial.println(line);\r\n delay(30); \/\/ Mimics the live stream interval from the GY-521 sensor\r\n }\r\n}\r\n<\/pre>\ndelay(30); \/\/ Mimics the live stream interval from the GY-521 sensor<\/pre>\n
\nRed – 5V
\nGreen – UTX<\/p>\n![\"\"](\"https:\/\/www.cloudacm.com\/wp-content\/uploads\/2021\/12\/ESP32-Cam-195x300.png\")
<\/a>
\n![\"\"](\"https:\/\/www.cloudacm.com\/wp-content\/uploads\/2021\/12\/ESP32-USB-Module-201x300.png\")
<\/a><\/p>\n