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From: | Prof. Dr.-Ing. Heinrich Warmers |
Subject: | Re: [Paparazzi-devel] Temperature compensation of rate sensors |
Date: | Thu, 14 Mar 2013 09:24:59 +0100 |
User-agent: | Mozilla/5.0 (Windows; U; Windows NT 5.0; de-DE; rv:1.4) Gecko/20030619 Netscape/7.1 (ax) |
Hi Chris, i made the compensation with the steady sate temperature (42°C) . But the mutikopter is cooling down when the motors are running about 8°C. If i go outside we have temperature of about -5°C. This change the temperature down to 5°C. I think Openpilot and adreino mutikopter have a temperature compensation. In the mikrokopter project they go another way. By a RC-command (Stick top left ) the zero moving value is measured direct over a few seconds. This value form the new offset. Invensense suggest this procedure. I found a application note AP-TEMP-00-01 for temperature compensation of the Invensense IDG500 by measuring the temperature of the dies. I think this will also work on the mpu600x0. Regards Heinrich Warmers Chris Gough schrieb: is there a need for temperature compensation of the invensense rate sensors? By applying a temperature jump of 20°C i found a bias error of 4°/s and the AHS fails. Other projects made a temperature or bias compensation.Once it warms up, does your temperature/bias remain reasonably constant? I'm asking because, with another project's autopilot, we found that we needed a preflight procedure to solve this problem: let the board come up to temperature for a few minutes then reboot it. Are you aware of another project's autopilot with a temperature/bias compensation that actually works? Chris Gough |
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