Replies to This Discussion

DeveloperPermalink Reply by Doug Weibel on September 17, 2010 at 8:15pm

Haris - I have added a debug test 17. Use it to verify that you are getting good outputs from your gyros, particularly the z axis. I just put it together quickly for you and haven't tested it, but it should be OK.

• ▶ Reply

Permalink Reply by Harris on September 18, 2010 at 3:16am

Hi Doug,

Thanks for you're help!
I just debugged with test 17, my initial values are like this:
======================================================
1662.00 1678.00 1459.00 2035.00 2051.00 2486.00
1662.00 1678.00 1459.00 2038.00 2051.00 2486.00
1663.00 1677.00 1459.00 2036.00 2051.00 2485.00
1662.00 1678.00 1459.00 2035.00 2051.00 2485.00
1662.00 1677.00 1460.00 2037.00 2052.00 2484.00
1662.00 1677.00 1461.00 2037.00 2052.00 2486.00
1662.00 1678.00 1459.00 2035.00 2052.00 2487.00
1662.00 1677.00 1460.00 2035.00 2051.00 2486.00
1662.00 1677.00 1459.00 2039.00 2051.00 2486.00
1662.00 1677.00 1461.00 2036.00 2052.00 2485.00
1662.00 1677.00 1461.00 2033.00 2052.00 2487.00
1662.00 1677.00 1459.00 2037.00 2050.00 2485.00
1662.00 1677.00 1461.00 2038.00 2052.00 2486.00
1663.00 1678.00 1461.00 2035.00 2052.00 2485.00
======================================================

When I start moving the board:
- 1st & 2nd value are accelerometers i think (values are changing)
- 3rd value is not changing at all
- 4rd value (pitch) is working
- 5th value (roll) is working
- 6th value (yaw i assume) is almost not changing, only hops to a value around 2500 but always returns to the initial value (+- 2485) when i stop moving.

• ▶ Reply

DeveloperPermalink Reply by Doug Weibel on September 18, 2010 at 9:51am

Hey Haris. Sorry for being less helpful than possible, but I am down to a single functioning APM today and it is in a UAV ready to fly as soon as it stops raining, so I won't do the test myself to insure which values are which.

However I believe that the order is GYROX, GYROY, GYROZ, ACCELX, ACCELY, ACCELZ.

You should see the gyro values move as you rotate the IMU around the appropriate axis. You should see the accel values move when you change orientation due to gravity.

Gravity should have a raw value of about 418, so your static values for the accels (last 3) look OK. The fact that your z gyro value is way off the other two at rest indicates a problem. And as you note the value is not changing.

Pretty confident your z axis gyro is bad.

• ▶ Reply

Permalink Reply by Harris on September 18, 2010 at 3:29pm

Ok Doug, thanks for you're help!
Is it possible to send it back to the DIY Drones store so they can take a look at it?

Regards Haris

• ▶ Reply

Permalink Reply by Mayk Goettke on November 6, 2010 at 7:06am

Hi,

just a stupid question: Where do you get the Code for other Debug higher than 3?


Thanks!


Mayk

• ▶ Reply

DeveloperPermalink Reply by Doug Weibel on November 6, 2010 at 7:27pm

Mayk,

The debug tests have been shifted in to the Command Line Interface functionality. Please review the manual page here:
http://code.google.com/p/ardupilot-mega/wiki/Test

• ▶ Reply

DeveloperPermalink Reply by Doug Weibel on November 6, 2010 at 7:26pm

Harris,

Sorry, I missed your reply here. If you are still workign on this problem - I just reviewed the thread and I don't see anything wrong with your values. The "weird" yaw you see is just the yaw drifting from zero counterclockwise. If you are not using a magnetometer the yaw will drift on the bench because the drift compensation relies on the AP being in motion and the gps providing a ground course. The range of yaw is 0-360, so if it drifts counterclockwise it will go 0, 359, 358, etc.

• ▶ Reply

Permalink Reply by Popa Stefan on May 30, 2012 at 3:33pm

Hello,

It seems that I have the same problem with the yaw: it keeps decreasing from 360 and in less than 15 minutes it already reaches 340 even if the APM board remained in the same position.  

How can I stop this? Can somebody please help?

Thank you very much in advance.

Stefan

• ▶ Reply