[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]
[Paparazzi-devel] Drotek imu calibration problem
From: |
Chris |
Subject: |
[Paparazzi-devel] Drotek imu calibration problem |
Date: |
Thu, 04 Apr 2013 19:38:47 +0300 |
User-agent: |
Mozilla/5.0 (X11; Linux i686; rv:17.0) Gecko/20130308 Thunderbird/17.0.4 |
Hi.
I got the Drotek imu to work ok with the twog but i have two problems.
1) The X axis seems to be reversed (towards the i2c signal pads and not
according to the arrows
printed on the pcb)
I know that aspirin has this backwards but this is the 10df imu with the
mpu6050 on I2C bus, who knows maybe it has the same flaw.
2) i tried to calibrate the accelerometer and what i got was not correct
because the imu started to drift wildly.
Here is the console output:
address@hidden:~$ ~/paparazzi/sw/tools/calibration/calibrate.py
-s ACCEL ~/paparazzi/var/logs/13_04_04__18_49_50.data
initial guess : avg 9.73738108474 std 0.0314174753141
optimized guess : avg 9.80993257151 std 0.0257190383087
<define name="ACCEL_X_NEUTRAL" value="61"/>
<define name="ACCEL_Y_NEUTRAL" value="6"/>
<define name="ACCEL_Z_NEUTRAL" value="-67"/>
<define name="ACCEL_X_SENS" value="4.87542830698" integer="16"/>
<define name="ACCEL_Y_SENS" value="4.89064537368" integer="16"/>
<define name="ACCEL_Z_SENS" value="4.81527520369" integer="16"/>
address@hidden:~$
And here is what i use for now which works ok:
<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit
FRAC: 1024 / 208.7665 -->
<define name="ACCEL_X_SENS" value="9.81" integer="16"/>
<define name="ACCEL_Y_SENS" value="9.81" integer="16"/>
<define name="ACCEL_Z_SENS" value="9.81" integer="16"/>
Any ideas?
Chris
- [Paparazzi-devel] Drotek imu calibration problem,
Chris <=