Question 1

How do I calibrate the magnetometer with this MPU9250 library?

Accepted Answer

Use the AK8963 driver's calibrate method by rotating the sensor to collect samples. Save the returned offset and scale tuples, then pass them to the AK8963 constructor for reuse, as detailed in the calibration section.

Question 2

What's the difference between using MPU9250 and MPU6050 in MicroPython projects?

Accepted Answer

MPU9250 includes a built-in magnetometer for compass functionality, while MPU6050 does not. This library is specific to MPU9250; for MPU6050, you'd need a different MicroPython driver that only handles accelerometer and gyroscope.

Question 3

Why am I getting I2C errors after a soft reboot with this library?

Accepted Answer

The README mentions that soft reboots can cause OSError: 26 or i2c driver install errors. This is likely due to MicroPython's I2C driver state, and a hard reboot is recommended to resolve it.

Question 4

How can I read sensor data periodically without blocking in my MicroPython code?

Accepted Answer

Implement hardware timer callbacks as shown in the examples. Set up a Timer in periodic mode with a callback function that reads the sensor, allowing non-blocking periodic data acquisition.

Question 5

How do I save and reload magnetometer calibration data?

Accepted Answer

After calibration, store the offset and scale values in non-volatile memory or a file. On startup, create an AK8963 instance with these parameters, then use it in the MPU9250 composite, as illustrated in the code snippets.

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