Today I was testing out my new Ardupilot Mega + IMU Shield.. when I was testing the IMU sensors with the software, using DEBUG SUBSYSTEM = 6, I saw that my Yaw values are very strange. Example data while moving the board:
roll:0 pitch:-11 yaw:355
roll:-1 pitch:-14 yaw:355
roll:-1 pitch:-17 yaw:355
roll:-1 pitch:-19 yaw:355
roll:-1 pitch:-20 yaw:355
roll:-1 pitch:-22 yaw:355
roll:-1 pitch:-23 yaw:355
roll:-2 pitch:-24 yaw:355
roll:-2 pitch:-24 yaw:355
roll:-2 pitch:-24 yaw:355
roll:-3 pitch:-24 yaw:355
roll:-3 pitch:-24 yaw:355
roll:-3 pitch:-23 yaw:355
roll:-4 pitch:-22 yaw:355
roll:-4 pitch:-20 yaw:354
roll:-5 pitch:-18 yaw:354
roll:-5 pitch:-17 yaw:354
roll:-5 pitch:-17 yaw:354
roll:-6 pitch:-16 yaw:354
roll:-6 pitch:-15 yaw:354
roll:-5 pitch:-15 yaw:354
roll:-5 pitch:-14 yaw:354
roll:-4 pitch:-13 yaw:354
roll:-4 pitch:-12 yaw:354
roll:-3 pitch:-11 yaw:353
roll:-2 pitch:-10 yaw:353
roll:-1 pitch:-9 yaw:353
roll:0 pitch:-8 yaw:353
roll:0 pitch:-7 yaw:353
roll:1 pitch:-6 yaw:353
roll:1 pitch:-5 yaw:353
roll:2 pitch:-4 yaw:353
roll:2 pitch:-3 yaw:354
roll:3 pitch:-2 yaw:354
roll:3 pitch:-2 yaw:354
roll:3 pitch:-1 yaw:354
roll:3 pitch:-1 yaw:354
roll:3 pitch:0 yaw:354
roll:3 pitch:0 yaw:354
roll:3 pitch:0 yaw:354
roll:4 pitch:0 yaw:354
roll:4 pitch:0 yaw:354
roll:4 pitch:0 yaw:354
roll:4 pitch:0 yaw:354
roll:4 pitch:0 yaw:354
roll:4 pitch:0 yaw:354
roll:4 pitch:0 yaw:354
roll:4 pitch:0 yaw:354
roll:4 pitch:1 yaw:354
roll:4 pitch:1 yaw:354
roll:4 pitch:1 yaw:354
roll:4 pitch:2 yaw:354
roll:3 pitch:2 yaw:354
roll:3 pitch:3 yaw:354
roll:3 pitch:3 yaw:354
roll:3 pitch:3 yaw:354
roll:3 pitch:3 yaw:354
roll:3 pitch:3 yaw:354
roll:2 pitch:2 yaw:354
roll:2 pitch:1 yaw:354
roll:2 pitch:0 yaw:354
The roll & pitch values seem to be OK, but the yaw value seems to slowy decrease only.. Even when I move the board around the Z axis extremely there are no significant changes.
Anyone knows how to solve this problem?
Replies
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.