Gyro calibration - Unity + MPU6050

Hi everyone!

I'm a design student and actually working on a prototype of headphones with a gyroscope on it. I'm quite new to Unity, but I manage to find a working script to link a gyroscope MPU 6050 to Unity.

My problem is that I would like to calibrate the gyroscope when I click on play, to reset the gyroscope data (0,0,0) to whatever the position of the gyro is. For example if my gyro is (84,52,14) before I click play, I would like the (84,52,14) to be the new (0,0,0), whatever is the initial position of the gyro, I want it to be the starting point.

Here is the code I'm using:

• SerialCommUnity (Serial Communication for Unity)

• Author: Daniel Wilches

• This work is released under the Creative Commons Attributions license.

• https://creativecommons.org/licenses/by/2.0/ / / move = 0x0001; left mouse down = 0x0002; left mouse up = 0x0004; right mouse down = 0x0008; right mouse up = 0x0010; middle mouse down = 0x0020; middle mouse up = 0x0040; private const int absolute = 0x8000;

more info about mouse_event https://msdn.microsoft.com/en-us/library/windows/desktop/ms646260(v=vs.85).aspx */

using UnityEngine; using System.Collections; using System.Runtime.InteropServices;

/** Sample for reading using polling by yourself. In case you are fond of that. / public class SampleUserPolling_JustRead : MonoBehaviour { public SerialController serialController;

 public string[] messages;

 public Transform obj;
 public Vector3 oldRot;
 public Vector3 newRot;

 public float differenceX;
 public float differenceY;

 public bool clicking1;
 public bool clicking2;

 [DllImport("user32.dll")]
 static extern void mouse_event (int flag, int x, int y, int data, int extraInfo);

 public void Move(int x, int y){
     mouse_event (0x0001, x, y, 0, 0);
 }

 public void MouseDown(){
     mouse_event (0x0002, 0, 0, 0, 0);
 }

 public void MouseUp(){
     mouse_event (0x0004, 0, 0, 0, 0);
 }

 public void ButtonDown(){
     //Second button code goes here
 }

 public void ButtonUp(){
     //Second button code goes here
 }

 // Initialization
 void Start()
 {
     serialController = GameObject.Find("SerialController").GetComponent<SerialController>();
 }

 // Executed each frame
 void Update()
 {
     string message = serialController.ReadSerialMessage();

     if (message == null)
         return;

     // Check if the message is plain data or a connect/disconnect event.
     if (ReferenceEquals(message, SerialController.SERIAL_DEVICE_CONNECTED))
         Debug.Log("Connection established");
     else if (ReferenceEquals(message, SerialController.SERIAL_DEVICE_DISCONNECTED))
         Debug.Log("Connection attempt failed or disconnection detected");

     messages = message.Split (" " [0]);


     if (messages [3] == "0" && !clicking1) {
         clicking1 = true;
         MouseDown ();
     }
     if (messages [3] == "1" && clicking1) {
         clicking1 = false;
         MouseUp ();
     }

     if (messages [4] == "0" && !clicking2) {
         clicking2 = true;
         ButtonDown ();
     }
     if (messages [4] == "1" && clicking2) {
         clicking2 = false;
         ButtonUp ();
     }

     oldRot = obj.eulerAngles;
     obj.eulerAngles = new Vector3 (-float.Parse (messages [2]), float.Parse (messages [0]), float.Parse (messages [1]));

     newRot = obj.eulerAngles;
     newRot = new Vector3 (newRot.x > 0 ? newRot.x : (360 + newRot.x), newRot.y > 0 ? newRot.y : (360 + newRot.y), newRot.z > 0 ? newRot.z : (360 + newRot.z));

     differenceX = obj.eulerAngles.x - oldRot.x;
     differenceY = obj.eulerAngles.y - oldRot.y;

     if (oldRot.x < 180 && newRot.x > 180)
         differenceX = 360 - differenceX;
     if (oldRot.y < 180 && newRot.y > 180)
         differenceY = 360 - differenceY;

     if (oldRot.x > 180 && newRot.x < 180)
         differenceX = differenceX + 360;
     if (oldRot.y > 180 && newRot.y < 180)
         differenceY = differenceY + 360;

     Move ((int)(differenceY * 23), (int)(differenceX * 23));
 }

}

Thanks in advance if anyone have any idea how to do that!