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Dynamic Acceleration from ArduIMU+ V2

Posted by Joseph Lum on February 21, 2011 at 8:44am

ArduIMU+ V2 currently shows acceleration from the accelerometers taking into account static acceleration of gravity. Is it actually possible to remove this stativ acceleration such that the aircraft only shows the dynamic acceleration? Anyone knows how I can do this?

 

Any help much appreciated!! :)

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Replies

  • Overwatch February 21, 2011 at 11:37am
    The math would go about subtracting the IMU's orientation matrix multiplied by a constant gravity vector (0, 0, -9.80665) from the accelerometer vector. In other words take a 1g "pointing down" vector, rotate it into the IMU's local space and subtract it from the vector reported by the IMU.
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