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DCM Output Units

Posted by Young Lee on March 27, 2012 at 9:58am

I'm trying to retrieve some IMU data from the ArduPilot Mega with Oilpan and started reading the ArduCopter codes. I found the following lines from one of the codes:

                Serial.printf_P(PSTR("%ld, %ld, %ld\n"),
                               dcm.roll_sensor,
                               dcm.pitch_sensor,
                               dcm.yaw_sensor);

What unit is dcm.roll_sensor in? Is it an angle? Or is it a raw sensor output?

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Replies

Greg Fletcher March 27, 2012 at 11:29am

That is raw gyro rate data. The DCM algorythm converts to angles.

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