Attitude Angle JY61P/JY901 I2C

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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

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