Attitude Angle JY61P/JY901 I2C

File:TArduinoJY61P.png

Summary

The Attitude Angle JY61P/JY901 component provides 9-axis attitude estimation with accelerometer, gyroscope, compass, and GPS integration. It communicates using the I2C interface and outputs comprehensive orientation, position, and motion data.

Description

The JY61P/JY901 is an advanced attitude and heading reference system (AHRS) that combines 3-axis accelerometer, 3-axis gyroscope, 3-axis magnetometer, and GPS capabilities. It features sophisticated sensor fusion algorithms, automatic calibration, and configurable output channels. The component provides real-time orientation data (roll, pitch, yaw), position information, and motion tracking suitable for applications such as drone flight control, robotic navigation, marine systems, and aerospace applications.

Diagram:

Properties

• Accelerometer – Accelerometer configuration.
  • Enabled – Enables accelerometer (Default: True).
  • Full Scale Range – Acceleration measurement range (Default: 16g).
  • Offset(Bias) – Accelerometer bias calibration.
    • X – X-axis offset.
      • Enabled – Enables X-offset (Default: False).
      • Value – Offset value (Default: 0).
    • Y – Y-axis offset.
      • Enabled – Enables Y-offset (Default: False).
      • Value – Offset value (Default: 0).
    • Z – Z-axis offset.
      • Enabled – Enables Z-offset (Default: False).
      • Value – Offset value (Default: 0).
• Address – I2C device address (Default: 0x50).
• Compass – Magnetometer configuration.
  • Enabled – Enables magnetometer (Default: True).
  • Offset(Bias) – Magnetometer bias calibration.
    • X – X-axis offset.
      • Enabled – Enables X-offset (Default: False).
      • Value – Offset value (Default: 0).
    • Y – Y-axis offset.
      • Enabled – Enables Y-offset (Default: False).
      • Value – Offset value (Default: 0).
    • Z – Z-axis offset.
      • Enabled – Enables Z-offset (Default: False).
      • Value – Offset value (Default: 0).
  • Units – Measurement units.
  • Elements – Configurable elements list.

Elements

• Save Settings – Save current configuration.
• Restore Default Settings – Reset to factory defaults.
• Calibrate Gyroscope/Accelerometer – Start IMU calibration.
• Calibrate Compass – Start magnetometer calibration.
• Stop calibration – Stop ongoing calibration.
• Zero Altitude – Reset altitude reference.
• Sleep/Wake – Sleep mode control.
• Set Address – Change I2C address.

• GPS – GPS configuration.
  • Enabled – Enables GPS (Default: True).
  • Serial Speed – GPS serial communication speed (Default: 9600).
• Gyroscope – Gyroscope configuration.
  • Auto Calibrate – Automatic calibration (Default: False).
  • Enabled – Enables gyroscope (Default: True).
  • Full Scale Range – Angular rate range (Default: 2000dps).
  • Offset(Bias) – Gyroscope bias calibration.
    • X – X-axis offset configuration.
      • Enabled – Enables X-axis offset (Default: False).
      • Value – X-axis offset value (Default: 0).
    • Y – Y-axis offset configuration.
      • Enabled – Enables Y-axis offset (Default: False).
      • Value – Y-axis offset value (Default: 0).
    • Z – Z-axis offset configuration.
      • Enabled – Enables Z-axis offset (Default: False).
      • Value – Z-axis offset value (Default: 0).
  • Units – Measurement units (Default: auDegree).
• Rotation – Orientation settings.
  • Enabled – Enables rotation output (Default: True).
  • Positive Only – Positive-only output (Default: True).
  • Units – Rotation units (Default: auDegree).
• Thermometer – Temperature sensor configuration.
  • Enabled – Enables temperature sensor (Default: True).
  • In Fahrenheit – Fahrenheit output (Default: False).
• Time – Timing configuration.
  • Enabled – Enables time output (Default: True).
  • Use 6Axis Algorithm – 6-axis fusion algorithm (Default: False).
• Channels – Output channel configuration (Default: 4 items).
  • Item [0] – Channel 0 settings.
    • Auto Config – Automatic configuration (Default: True).
    • Initial Value – Initial output value (Default: False).
    • Is Analog – Analog output mode (Default: False).
    • Is Output – Output enabled (Default: False).
    • PWM Frequency – PWM frequency in Hz (Default: 980).
  • Item [1] – Channel 1 (GPS) settings.
    • Auto Config – Automatic configuration (Default: True).
    • GPS Enabled – GPS functionality enabled (Default: True).
    • Initial Value – Initial output value (Default: False).
    • Is Analog – Analog output mode (Default: False).
    • Is Output – Output enabled (Default: False).
    • PWM Frequency – PWM frequency in Hz (Default: 980).
  • Item [2] – Channel 2 settings.
    • Auto Config – Automatic configuration (Default: True).
    • Initial Value – Initial output value (Default: False).
    • Is Analog – Analog output mode (Default: False).
    • Is Output – Output enabled (Default: True).
    • PWM Frequency – PWM frequency in Hz (Default: 980).
  • Item [3] – Channel 3 settings.
    • Auto Config – Automatic configuration (Default: True).
    • Initial Value – Initial output value (Default: False).
    • Is Analog – Analog output mode (Default: False).
    • Is Output – Output enabled (Default: False).
    • PWM Frequency – PWM frequency in Hz (Default: 980).
• Installed Vertical – Vertical installation orientation (Default: False).
• Led – LED indicator configuration (Default: True).

Pins

Input Pins

• Clock (digital) – Global clock input.

• GPS – GPS data inputs.
  • Clock (digital) – Clock input for GPS.

• Time – Time data input.
  • Clock (digital) – Clock input for Time.

• Thermometer – Temperature sensor input.
  • Clock (digital) – Clock input for Thermometer.

• Accelerometer – Acceleration inputs.
  • Clock (digital) – Clock input for Accelerometer.

• Gyroscope – Angular rate inputs.
  • Clock (digital) – Clock input for Gyroscope.

• Compass – Magnetometer inputs.
  • Clock (digital) – Clock input for Compass.

• Inputs Outputs – General I/O channel inputs.
  • Channels – Multiple I/O channels.
    • Channels[0] – Channel 0.
      • Digital (digital) – Digital I/O input.
      • Analog (PWM) (analog) – Analog/PWM input.
    • Channels[1] – Channel 1 (GPS).
      • Digital (digital) – Digital I/O input.
      • Analog (PWM) (analog) – Analog/PWM input.
    • Channels[2] – Channel 2.
      • Digital (digital) – Digital I/O input.
      • Analog (PWM) (analog) – Analog/PWM input.
    • Channels[3] – Channel 3.
      • Digital (digital) – Digital I/O input.
      • Analog (PWM) (analog) – Analog/PWM input.

Output Pins

• GPS – GPS data outputs.
  • Location – Position information.
    • Latitude (Deg) (analog) – Latitude in degrees.
    • Longitude (Deg) (analog) – Longitude in degrees.
    • Altitude (m) (analog) – Altitude in meters.
  • Course – Navigation data.
    • Speed (km/h) (analog) – Speed in km/h.
    • Course (Deg) (analog) – Course direction in degrees.

• Time – Time output.
  • Out (analog) – Time data output.

• Thermometer – Temperature output.
  • Out (analog) – Temperature measurement.

• Accelerometer – Acceleration outputs.
  • Out (analog) – Main acceleration output.
  • X(G) (analog) – X-axis acceleration.
  • Y(G) (analog) – Y-axis acceleration.
  • Z(G) (analog) – Z-axis acceleration.

• Gyroscope – Angular rate outputs.
  • Out (analog) – Main gyroscope output.
  • X (analog) – X-axis angular rate.
  • Y (analog) – Y-axis angular rate.
  • Z (analog) – Z-axis angular rate.

• Compass – Magnetometer outputs.
  • Rotation – Orientation data.
    • Quaternion (analog) – Quaternion output.
    • Out (analog) – Main orientation output.
    • X(Roll) (analog) – Roll angle.
    • Y(Pitch) (analog) – Pitch angle.
    • Z(Yaw) (analog) – Yaw angle.

• Inputs Outputs – General I/O channel outputs.
  • Channels – Multiple I/O channels.
    • Channels[0] – Channel 0.
      • Digital (digital) – Digital I/O output.
      • Analog (analog) – Analog output.
    • Channels[1] – Channel 1 (GPS).
      • Digital (digital) – Digital I/O output.
      • Analog (analog) – Analog output.
    • Channels[2] – Channel 2.
      • Digital (digital) – Digital I/O output.
      • Analog (analog) – Analog output.
    • Channels[3] – Channel 3.
      • Digital (digital) – Digital I/O output.
      • Analog (analog) – Analog output.

• Out (I2C) – I2C bus output for communication with the board.

Categories

• File:I2C.png – Components that use I2C communication protocol.
• File:AHRS.png – Attitude and Heading Reference Systems.
• File:Navigation.png – Navigation and positioning components.
• File:Sensors.png – Multi-sensor systems.
• File:GPS.png – GPS and location components.