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MPU-6050 gyroscope and accelerometer~

This feature is not included in precompiled binaries

When compiling your build add the following to user_config_override.h: 

#ifndef USE_MPU6050
#define USE_MPU6050                // [I2cDriver25] Enable MPU6050 sensor (I2C address 0x68 AD0 low or 0x69 AD0 high) (+3K3 of code and 188 Bytes of RAM)
  #define USE_MPU6050_DMP          // Enable in MPU6050 to use the DMP on the chip, should create better results (+8k6 of code)
#endif

The MPU-6050 combines a 3-axis gyroscope and a 3-axis accelerometer on the same silicon die, together with an onboard Digital Motion Processor™ (DMP™), which processes complex 6-axis MotionFusion algorithms.

Datasheet

Configuration~

Wiring~

MPU-6050 ESP
GND GND
VCC 3.3V
SDA GPIOx
SCL GPIOy
XDA
XCL
AD0
INT

Tasmota Settings~

In the Configuration -> Configure Module page assign:

  1. GPIOx to I2C SDA
  2. GPIOy to I2C SCL

After a reboot the driver will detect MCU-69050 automatically and display measurements.

MLX90614 WebUi Display

Sensor sends a tele/%topic%/SENSOR JSON response:

tele/tasmota/SENSOR = {"Time":"2019-12-10T19:37:50","MPU6050":{"Temperature":27.7,"AccelXAxis":-7568.00,"AccelYAxis":-776.00,"AccelZAxis":12812.00,"GyroXAxis":270.00,"GyroYAxis":-741.00,"GyroZAxis":700.00},"TempUnit":"C"}

Digital Motion Processor Enabled~

If you define flag 

  #define USE_MPU6050_DMP          // Enable in MPU6050 to use the DMP on the chip, should create better results (+8k6 of code)
enabling Digital Motion Processor™ (DMP™) you will get additional Yaw, Pitch and Roll measurements and more accurate measurements overall

MLX90614 WebUi Display

Sensor sends an expanded tele/%topic%/SENSOR JSON response:

tele/tasmota/SENSOR = {"Time":"2019-12-10T19:24:55","MPU6050":{"Temperature":25.0,"AccelXAxis":756.00,"AccelYAxis":-1409.00,"AccelZAxis":2152.00,"GyroXAxis":0.00,"GyroYAxis":-1.00,"GyroZAxis":10.00,"Yaw":0.86,"Pitch":-1.45,"Roll":-10.76},"TempUnit":"C"}

Breakout Boards~

GY-521

Rule Triggers~

The following trigger events are supported for use in Rules: 

 ON MPU6050#Temperature DO <command> ENDON  
 ON MPU6050#AccelXAxis DO <command> ENDON   
 ON MPU6050#AccelYAxis DO <command> ENDON   
 ON MPU6050#AccelZAxis DO <command> ENDON
 ON MPU6050#GyroXAxis DO <command> ENDON    
 ON MPU6050#GyroYAxis DO <command> ENDON    
 ON MPU6050#GyroZAxis DO <command> ENDON

 ON MPU6050#Yaw DO <command> ENDON  
 ON MPU6050#Roll DO <command> ENDON 
 ON MPU6050#Pitch DO <command> ENDON
Example: 
 ON MPU6050#Yaw DO publish espMotion/sensor/data/Yaw %value% ENDON