Sensor fusion MPU6050
https://github.com/kriswiner/MPU6050/wiki/Affordable-9-DoF-Sensor-Fusion
Attitude Heading Reference System (AHRS)
https://github.com/kriswiner/MPU6050
most of the lib on 6050 are based on I2Cdev: for arduino you need this one:
https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
also you need this in your folder
https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/I2Cdev
For the IIC connection, directly read out sensor data seems to be fine.
But when I use interrupt of esp8266on DMP, from time to time, it fails on IIC.
lower the speed does not help...
I switch back to pro mini, it works fine....even with a IIC OLED
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