How to Stop MPU6050 DMP?

[williamesp2015]

In my program I have to start and stop reading MPU6050 and I am using MPU6050_6Axis_MotionApps_V6_12. I couldn't find an reliable function to stop and restart DMP.

[flavioipiranga]

Hi @williamesp2015,

Check if this helps:

i2cdevlib/Arduino/MPU6050/MPU6050.cpp

Line 3022 in 474c5e4

void MPU6050::resetDMP() {

[ZHomeSlice]

The DMP runs on the mpu6050 and fills the FIFO Buffer. this is all done in the background. this is required to keep the orientation correct. if the embedded DMP were to stop the detection of the change in direction would stop.

options:
If you don't consistently empty the FIFO buffer will fill and overflow which corrupts the data within. so a simple reset mpu.resetDMP(); clears the buffer and all you will need to do is wait for the next packet to arrive <= 10ms
using the function if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet will get that packed whenever you need it and it will handle overflows for you. so you don't need to use mpu.resetDMP();

conclusion:
Run this function when you need to find out what orientation your bot is in whenever you need it.
if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) {
and let the DMP keep track in the background for you.

Z