Discussions

So I wrote a sketch using Dr Owens tutorial to see the sensor values the ardupilot 2.6 was outputting. When I upload the code to the ardupilot and run serial monitor, my pitch goes to -2.1 and stays there. My roll goes to -1.4 and stops there. My yaw is the worst. It just keeps incrementing towards negative. I do not move the APM at all. It is completely stationary when I initialise it. Could it be the code I'm using. I also took off the cover of the board and put it back on. Could that be it. Has anyone else had this problem before?

PS, I using the libraries Dr Owen posted on his "How to proram your own Autopilot" tutorial.

Also, my Pitch is confined to -88<P<88. 

I wasnt having any issues yesterday

My code is below

#include <AP_Common.h>
#include <AP_Math.h>
#include <AP_Param.h>
#include <AP_Progmem.h>
#include <AP_ADC.h>
#include <AP_InertialSensor.h>

#include <AP_HAL.h>
#include <AP_HAL_AVR.h>

// MPU6050 accel/gyro chip
AP_InertialSensor_MPU6000 ins;

const AP_HAL::HAL& hal = AP_HAL_AVR_APM2; // Hardware abstraction layer

void setup()
{

// Turn off Barometer to avoid bus collisions
hal.gpio->pinMode(40, GPIO_OUTPUT);
hal.gpio->write(40, 1);

// Turn on MPU6050 - quad must be kept still as gyros will calibrate
ins.init(AP_InertialSensor::COLD_START,
AP_InertialSensor::RATE_100HZ,
NULL);

// initialise sensor fusion on MPU6050 chip (aka DigitalMotionProcessing/DMP)
hal.scheduler->suspend_timer_procs(); // stop bus collisions
ins.dmp_init();
hal.scheduler->resume_timer_procs();

// We're ready to go! Now over to loop()

}

void loop()
{

// Ask MPU6050 for orientation
ins.update();
float roll,pitch,yaw;
ins.quaternion.to_euler(&roll, &pitch, &yaw);
roll = ToDeg(roll) ;
pitch = ToDeg(pitch) ;
yaw = ToDeg(yaw) ;

// Ask MPU6050 for gyro data
Vector3f gyro = ins.get_gyro();
float gyroPitch = ToDeg(gyro.y), gyroRoll = ToDeg(gyro.x), gyroYaw = ToDeg(gyro.z);

hal.console->printf_P(
PSTR("P:%4.1f R:%4.1f Y:%4.1f\n"),
pitch,
roll,
yaw);

}

AP_HAL_MAIN();