IMU response

Hi, on the flight data tab in the mission planner when I tilt my board and then rest the board on its level position, the bank angle as well as the pitch angle lose their level positin I mean they rest on a deflected position. This happnes most of the time and it takes 10 seconds for these two angles to gain back their level angle again (0,0)

These two angles would not become level (zero) fast enough when I leave the board on its level pisition after I move the board .

Any Idea ?

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  • Hi, I check the output of the noisy gyro and acce

    I just add these line to the voild loop to see the raw values in the serial monitor

    u can see noise within the imu values, Whenever I tilt the board and leave it on its level position the Gx  and Gy remain nonzero with order of e-2 i.e 0.005

     

    Vector3f accel;
     Vector3f gyro;
            while(1)
            {
     delay(1000);
     imu.update();
     accel = imu.get_accel();
     gyro = imu.get_gyro();

     Serial.printf("AX: %4.4f  AY: %4.4f  AZ: %4.4f  GX: %4.4f  GY: %4.4f  GZ: %4.4f\n",
          accel.x, accel.y, accel.z, gyro.x, gyro.y, gyro.z);
            }

     This is what I am getting when the board in level, is it normal???? the GX shoud be at least smaller than 0.001 when the boar is rest

     

    AX: 0.0014  AY: -0.0002  AZ: -9.7990  GX: -0.0029  GY: 0.0008  GZ: 0.0004
    AX: -0.0011  AY: -0.0031  AZ: -9.8029  GX: -0.0023  GY: 0.0005  GZ: 0.0005
    AX: 0.0005  AY: -0.0028  AZ: -9.8007  GX: -0.0023  GY: 0.0005  GZ: -0.0002
    AX: -0.0004  AY: -0.0035  AZ: -9.8016  GX: -0.0024  GY: 0.0003  GZ: 0.0003
    AX: 0.0002  AY: -0.0026  AZ: -9.7990  GX: -0.0024  GY: 0.0002  GZ: 0.0002
    AX: 0.0013  AY: -0.0001  AZ: -9.8028  GX: -0.0027  GY: 0.0005  GZ: 0.0004
    AX: 0.0006  AY: -0.0001  AZ: -9.8011  GX: -0.0024  GY: 0.0003  GZ: 0.0005
    AX: 0.0007  AY: 0.0005  AZ: -9.7992  GX: -0.0024  GY: 0.0003  GZ: -0.0001
    AX: 0.0012  AY: 0.0002  AZ: -9.8005  GX: -0.0024  GY: 0.0004  GZ: -0.0002
    AX: 0.0005  AY: 0.0007  AZ: -9.7970  GX: -0.0028  GY: 0.0004  GZ: 0.0005
    AX: -0.0001  AY: -0.0006  AZ: -9.7964  GX: -0.0024  GY: 0.0003  GZ: 0.0002
    AX: -0.0004  AY: -0.0006  AZ: -9.7994  GX: -0.0023  GY: 0.0003  GZ: -0.0002
    AX: 0.0005  AY: 0.0000  AZ: -9.7995  GX: -0.0026  GY: 0.0004  GZ: 0.0003
    AX: 0.0005  AY: -0.0016  AZ: -9.7969  GX: -0.0025  GY: 0.0005  GZ: 0.0009
    AX: -0.0014  AY: -0.0017  AZ: -9.7946  GX: -0.0028  GY: 0.0006  GZ: 0.0009
    AX: -0.0002  AY: -0.0004  AZ: -9.7916  GX: -0.0035  GY: 0.0012  GZ: 0.0013
    AX: 0.0010  AY: -0.0003  AZ: -9.7938  GX: -0.0033  GY: 0.0007  GZ: 0.0006
    AX: -0.0007  AY: -0.0013  AZ: -9.7910  GX: -0.0031  GY: 0.0008  GZ: 0.0007
    AX: -0.0006  AY: -0.0008  AZ: -9.7944  GX: -0.0032  GY: 0.0004  GZ: 0.0007
    AX: -0.0023  AY: -0.0020  AZ: -9.7968  GX: -0.0026  GY: 0.0001  GZ: 0.0002
    AX: -0.0009  AY: -0.0025  AZ: -9.7978  GX: -0.0026  GY: 0.0002  GZ: 0.0004
    AX: -0.0001  AY: -0.0021  AZ: -9.7964  GX: -0.0030  GY: 0.0002  GZ: 0.0009
    AX: -0.0008  AY: -0.0000  AZ: -9.7939  GX: -0.0027  GY: 0.0003  GZ: 0.0013
    AX: -0.0007  AY: -0.0030  AZ: -9.7967  GX: -0.0026  GY: 0.0001  GZ: 0.0006

     

    Pleaseee helppppppppppppppppppppppp

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