Feature Request: Support for DMP Mode in MPU6050 Driver (BSP-482)

[hayschan]

Greetings,

I'd like to suggest an enhancement for the MPU6050 driver within the ESP-BSP repository, specifically the integration of Digital Motion Processor (DMP) mode alongside the existing complementary filter implementations (e.g., Kalman, Madgwick).

More information about the DMP mode on MPU6050 here: jrowberg/i2cdevlib#200

esp-bsp/components/mpu6050/include/mpu6050.h

Lines 383 to 395 in 17b7757

	* @brief Use complimentory filter to calculate roll and pitch
	*
	* @param sensor object handle of mpu6050
	* @param acce_value accelerometer measurements
	* @param gyro_value gyroscope measurements
	* @param complimentary_angle complimentary angle
	*
	* @return
	* - ESP_OK Success
	* - ESP_FAIL Fail
	*/
	esp_err_t mpu6050_complimentory_filter(mpu6050_handle_t sensor, const mpu6050_acce_value_t *const acce_value,
	const mpu6050_gyro_value_t *const gyro_value, complimentary_angle_t *const complimentary_angle);

1. The DMP mode on the MPU6050 offers significant benefits by performing complex sensor data fusion on the IMU itself. This offloads the ESP MCU from heavy computational tasks, potentially freeing up resources for other processes.
2. Furthermore, utilizing DMP can lead to more accurate and stable results in applications requiring precise motion data. Link to the article for reference.

A review highlighted the effectiveness and accuracy of DMP compared to software-based sensor fusion methods. Incorporating DMP support could enhance the utility of the MPU6050 driver, making it more versatile for developers working on motion-sensitive projects.

Thank you for considering this feature request.

[tore-espressif]

Hello @hayschan
Indeed, our driver is pretty far from being complete. At the moment, in this project, we want to focus on BSPs and better graphics support.
The sensor drivers are just marginal components, so we can't commit to any new features now.
I'll leave this issue open, so someone else can bump the request in the future