GYRO DRIFT Compensation: "How To" in APM?

Hi All,

I use APM, and I need to do 'drift compensation'.  I have the following:

ahrs.pitch, ahrs.roll, ahrs.yaw.

drift vector =( x, y, z )

I use an external Compass for Yaw , and it is enabled. Now, how do I make use of the vectors above; do I need to assign them manually, how do I make use of the drift vector to really compensate for the drift that I get in all roll, pitch and yaw ??

Your answer will be appreciated.

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Replies

  • Developer

    Shyam,

          the APM code already does gyro drift compensation for the yaw using the compass, and for roll and pitch using the accelerometers so you shouldn't need to do anything I think...but i suspect i'm not understanding your question completely.

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