{"id":410,"date":"2026-06-11T10:15:16","date_gmt":"2026-06-11T02:15:16","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/imu-data-logger-mpu6050-sd-card-ardupilot-farsi\/"},"modified":"2026-06-11T10:15:17","modified_gmt":"2026-06-11T02:15:17","slug":"imu-data-logger-mpu6050-sd-card-ardupilot-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/imu-data-logger-mpu6050-sd-card-ardupilot-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a IMU Data Logger \u0628\u0627 MPU6050 \u0648 SD Card: \u0636\u0628\u0637 \u062d\u0631\u06a9\u062a \u067e\u0647\u067e\u0627\u062f \u0648 UGV (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nIMU Data Logger MPU6050 SD Card Arduino\n<\/div>\n
\n

IMU \u0648 Data Logger \u06cc\u0639\u0646\u06cc \u0686\u0647\u061f (\u0628\u0631\u0627\u06cc \u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

IMU<\/strong> (Inertial Measurement Unit) \u06cc\u06a9 \u0648\u0627\u062d\u062f \u0627\u0646\u062f\u0627\u0632\u0647\u200c\u06af\u06cc\u0631\u06cc \u0627\u06cc\u0646\u0631\u0633\u06cc \u0627\u0633\u062a. \u0645\u0627\u0698\u0648\u0644 MPU6050<\/strong> \u06cc\u06a9 IMU \u06f6-\u0645\u062d\u0648\u0631\u0647 \u0645\u062d\u0628\u0648\u0628 \u0627\u0633\u062a \u06a9\u0647 \u0634\u0627\u0645\u0644 \u06cc\u06a9 \u0698\u06cc\u0631\u0648\u0633\u06a9\u0648\u067e \u06f3 \u0645\u062d\u0648\u0631\u0647<\/strong> (\u0627\u0646\u062f\u0627\u0632\u0647\u200c\u06af\u06cc\u0631\u06cc \u0633\u0631\u0639\u062a \u0686\u0631\u062e\u0634) \u0648 \u06cc\u06a9 \u0634\u062a\u0627\u0628\u200c\u0633\u0646\u062c \u06f3 \u0645\u062d\u0648\u0631\u0647<\/strong> (\u0627\u0646\u062f\u0627\u0632\u0647\u200c\u06af\u06cc\u0631\u06cc \u0634\u062a\u0627\u0628 \u062e\u0637\u06cc) \u0627\u0633\u062a. \u0627\u0632 \u0627\u06cc\u0646 \u062f\u0648 \u062f\u0627\u062f\u0647 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646 \u0632\u0627\u0648\u06cc\u0647\u200c\u0647\u0627\u06cc Roll (\u06a9\u062c \u0634\u062f\u0646)\u060c Pitch (\u062e\u0645 \u0634\u062f\u0646) \u0648 Yaw (\u0686\u0631\u062e\u0634) \u0631\u0627 \u0645\u062d\u0627\u0633\u0628\u0647 \u06a9\u0631\u062f.<\/p>\n

\u06cc\u06a9 Data Logger<\/strong> (\u0644\u0627\u06af\u0631 \u062f\u0627\u062f\u0647) \u062f\u0633\u062a\u06af\u0627\u0647\u06cc \u0627\u0633\u062a \u06a9\u0647 \u062f\u0627\u062f\u0647\u200c\u0647\u0627 \u0631\u0627 \u0628\u0627 \u0632\u0645\u0627\u0646\u200c\u0628\u0646\u062f\u06cc \u062f\u0642\u06cc\u0642 \u0631\u0648\u06cc \u062d\u0627\u0641\u0638\u0647 \u0630\u062e\u06cc\u0631\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0628\u0627 \u0644\u0627\u06af \u06a9\u0631\u062f\u0646 IMU \u067e\u0647\u067e\u0627\u062f \u06cc\u0627 UGV\u060c \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u062f \u0627\u0631\u062a\u0639\u0627\u0634\u0627\u062a \u0645\u0648\u062a\u0648\u0631\u060c \u06a9\u06cc\u0641\u06cc\u062a PID\u060c \u0648 \u0631\u0641\u062a\u0627\u0631 \u0645\u06a9\u0627\u0646\u06cc\u06a9\u06cc \u0634\u0627\u0633\u06cc \u0631\u0627 \u062a\u062d\u0644\u06cc\u0644 \u06a9\u0646\u06cc\u062f.<\/p>\n<\/div>\n

\n

\u0645\u062d\u0635\u0648\u0644\u06cc \u06a9\u0647 \u0645\u06cc\u200c\u0633\u0627\u0632\u06cc\u062f<\/h2>\n

\u06cc\u06a9 \u0644\u0627\u06af\u0631 IMU \u06a9\u0648\u0686\u06a9 \u06a9\u0647 \u0631\u0648\u06cc \u067e\u0647\u067e\u0627\u062f \u06cc\u0627 UGV \u0646\u0635\u0628 \u0645\u06cc\u200c\u0634\u0648\u062f\u060c \u062f\u0627\u062f\u0647\u200c\u0647\u0627\u06cc Roll\/Pitch\/Yaw\/Acc \u0631\u0627 \u0628\u0627 \u06f1\u06f0\u06f0Hz \u0631\u0648\u06cc SD Card \u062b\u0628\u062a \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n

    \n
  • \u0632\u0645\u0627\u0646 \u0633\u0627\u062e\u062a:<\/strong> \u06f2 \u062a\u0627 \u06f3 \u0633\u0627\u0639\u062a<\/li>\n
  • \u0647\u0632\u06cc\u0646\u0647:<\/strong> \u06f3\u06f0\u06f0 \u062a\u0627 \u06f5\u06f0\u06f0 \u0647\u0632\u0627\u0631 \u062a\u0648\u0645\u0627\u0646<\/li>\n
  • \u0646\u0631\u062e \u0646\u0645\u0648\u0646\u0647\u200c\u0628\u0631\u062f\u0627\u0631\u06cc:<\/strong> \u062a\u0627 \u06f1\u06f0\u06f0Hz<\/li>\n<\/ul>\n<\/div>\n

    \n\n\n\n\n\n\n\nMPU6050<\/text>\nI2C \u2192 Gyro\/Acc<\/text>\nArduino Nano<\/text>\nDMP Fusion<\/text>\nSD Card SPI<\/text>\nCSV \u0644\u0627\u06af<\/text>\nExcel\/Python<\/text>\n\u062a\u062d\u0644\u06cc\u0644 \u06af\u0631\u0627\u0641<\/text>\nIMU Logger \u2014 \u062d\u0631\u06a9\u062a \u0636\u0628\u0637 \u2192 CSV \u2192 \u062a\u062d\u0644\u06cc\u0644 \u0627\u0631\u062a\u0639\u0627\u0634<\/text>\n<\/svg><\/p>\n

    \u0642\u0637\u0639\u0627\u062a \u0644\u0627\u0632\u0645 (BOM)<\/h2>\n\n\n\n\n\n\n\n\n\n
    \u0642\u0637\u0639\u0647<\/th>\n\u0646\u0642\u0634<\/th>\n<\/tr>\n<\/thead>\n
    Arduino Nano<\/td>\n\u067e\u0631\u062f\u0627\u0632\u0634\u06af\u0631 \u0627\u0635\u0644\u06cc<\/td>\n<\/tr>\n
    MPU6050 GY-521<\/td>\n\u0698\u06cc\u0631\u0648 + \u0634\u062a\u0627\u0628\u200c\u0633\u0646\u062c I2C<\/td>\n<\/tr>\n
    \u0645\u0627\u0698\u0648\u0644 SD Card SPI<\/td>\n\u0630\u062e\u06cc\u0631\u0647 CSV<\/td>\n<\/tr>\n
    RTC DS3231 (\u0627\u062e\u062a\u06cc\u0627\u0631\u06cc)<\/td>\n\u062a\u0627\u06cc\u0645\u200c\u0627\u0633\u062a\u0645\u067e \u062f\u0642\u06cc\u0642<\/td>\n<\/tr>\n
    \u06a9\u0627\u0631\u062a microSD 4GB+<\/td>\nFAT32 Format<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u06a9\u062f Arduino Data Logger<\/h2>\n
    \n#include <Wire.h>\n#include <MPU6050_light.h>\n#include <SD.h>\n#include <SPI.h>\n\nMPU6050 mpu(Wire);\nFile logFile;\nconst int CS_PIN = 10;\nunsigned long lastLog = 0;\nconst int LOG_INTERVAL = 10;  \/\/ \u0647\u0631 \u06f1\u06f0ms = \u06f1\u06f0\u06f0Hz\n\nvoid setup() {\n  Wire.begin();\n  Serial.begin(115200);\n  mpu.begin();\n  mpu.calcOffsets();  \/\/ \u06a9\u0627\u0644\u06cc\u0628\u0631\u0627\u0633\u06cc\u0648\u0646 \u062e\u0648\u062f\u06a9\u0627\u0631 (\u0631\u0648\u06cc \u0633\u0637\u062d \u0635\u0627\u0641 \u0642\u0631\u0627\u0631 \u062f\u0647\u06cc\u062f)\n\n  SD.begin(CS_PIN);\n  logFile = SD.open(\"imu_log.csv\", FILE_WRITE);\n  if (logFile) {\n    logFile.println(\"time_ms,roll,pitch,yaw,ax,ay,az,gx,gy,gz\");\n    logFile.flush();\n  }\n  Serial.println(\"Logger started\");\n}\n\nvoid loop() {\n  mpu.update();\n  if (millis() - lastLog >= LOG_INTERVAL) {\n    lastLog = millis();\n    String row = String(millis()) + \",\" +\n                 String(mpu.getAngleX(),2) + \",\" +\n                 String(mpu.getAngleY(),2) + \",\" +\n                 String(mpu.getAngleZ(),2) + \",\" +\n                 String(mpu.getAccX(),3) + \",\" +\n                 String(mpu.getAccY(),3) + \",\" +\n                 String(mpu.getAccZ(),3) + \",\" +\n                 String(mpu.getGyroX(),2) + \",\" +\n                 String(mpu.getGyroY(),2) + \",\" +\n                 String(mpu.getGyroZ(),2);\n    logFile.println(row);\n    if (millis() % 1000 < LOG_INTERVAL) logFile.flush();  \/\/ flush \u0647\u0631 \u062b\u0627\u0646\u06cc\u0647\n  }\n}\n<\/code><\/pre>\n
    \u062a\u062d\u0644\u06cc\u0644 \u0627\u0631\u062a\u0639\u0627\u0634 \u0628\u0627 Python<\/h2>\n
    \nimport pandas as pd\nimport matplotlib.pyplot as plt\n\ndf = pd.read_csv('imu_log.csv')\ndf['time_s'] = df['time_ms'] \/ 1000.0\n\n# \u0631\u0633\u0645 FFT \u0627\u0631\u062a\u0639\u0627\u0634 \u0645\u062d\u0648\u0631 Z\nfrom numpy.fft import fft, fftfreq\nimport numpy as np\n\nfs = 100  # Hz\nN = len(df)\nfreq = fftfreq(N, 1\/fs)\nfft_az = np.abs(fft(df['az'] - df['az'].mean()))\n\nplt.figure(figsize=(12,4))\nplt.subplot(1,2,1)\nplt.plot(df['time_s'], df['roll'], label='Roll')\nplt.plot(df['time_s'], df['pitch'], label='Pitch')\nplt.legend(); plt.xlabel('\u0632\u0645\u0627\u0646 (s)'); plt.title('Roll & Pitch')\n\nplt.subplot(1,2,2)\nplt.plot(freq[:N\/\/2], fft_az[:N\/\/2])\nplt.xlabel('\u0641\u0631\u06a9\u0627\u0646\u0633 (Hz)'); plt.title('FFT \u0627\u0631\u062a\u0639\u0627\u0634 \u0645\u062d\u0648\u0631 Z')\nplt.tight_layout(); plt.show()\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u062a\u0633\u062a<\/h2>\n\n\n\n\n\n\n\n\n
    \u062a\u0633\u062a<\/th>\n\u0646\u062a\u06cc\u062c\u0647<\/th>\n<\/tr>\n<\/thead>\n
    \u0641\u0627\u06cc\u0644 CSV \u0631\u0648\u06cc SD \u0627\u06cc\u062c\u0627\u062f \u0645\u06cc\u200c\u0634\u0648\u062f\u061f<\/td>\n\u0628\u0644\u0647<\/td>\n<\/tr>\n
    \u062f\u0631 \u062d\u0627\u0644\u062a \u062b\u0627\u0628\u062a Roll=Pitch=0?<\/td>\n\u0628\u0644\u0647 (\u0628\u0639\u062f \u0627\u0632 calcOffsets)<\/td>\n<\/tr>\n
    \u0646\u0631\u062e \u0644\u0627\u06af \u06f1\u06f0\u06f0Hz \u0645\u062d\u0642\u0642 \u0634\u062f\u0647\u061f<\/td>\n\u0628\u0631\u0631\u0633\u06cc \u0628\u0627 diff(time_ms)<\/td>\n<\/tr>\n
    \u06af\u0631\u0627\u0641 Python \u062f\u0627\u062f\u0647 \u0628\u0627\u0645\u0639\u0646\u06cc \u0646\u0634\u0627\u0646 \u0645\u06cc\u200c\u062f\u0647\u062f\u061f<\/td>\n\u0628\u0644\u0647<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\nRoll (\u0622\u0628\u06cc)<\/text>\nPitch (\u0633\u0628\u0632)<\/text>\n\u0646\u0645\u0648\u0646\u0647 \u06af\u0631\u0627\u0641 IMU Logger \u2014 \u0627\u0631\u062a\u0639\u0627\u0634 \u0645\u0648\u062a\u0648\u0631 \u0642\u0627\u0628\u0644 \u0645\u0634\u0627\u0647\u062f\u0647 \u0627\u0633\u062a<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n