To continue the series of posts "connecting sensors to MicroPython", this article is about the MPU6055 (you can use also the MPU9255, I am still waiting for the Chinese sensor package) and the WiPy 3.0. Combining the IMU sensor with the WiPy and two micro servos 9g, it is possible to stabilize a camera (tilt/rotate).
To calculate the compensation needed for the stabilisation, I added the
ulinalg libraries to the project to make matrix multiplication and quaternion to Euler conversion. The
ahrs library from Madgwick fusions the data of the accelerometer, gyroscope (and magnetometer, only with MPU9255) and allows to calculate the rotation of the IMU in quaternion coordinates. I rewrote (most of) the libraries to be compatible with MicroPython.