|
From: | Eduardo lavratti |
Subject: | Re: [Paparazzi-devel] Question about IMU_GYRO |
Date: | Sat, 3 Jan 2015 18:53:28 -0200 |
look the values of gyro RAW and copy it to IMU section.
some thing like this: <section name="IMU" prefix="IMU_"> <define name="GYRO_P_NEUTRAL" value="19"/> <define name="GYRO_Q_NEUTRAL" value="-30"/> <define name="GYRO_R_NEUTRAL" value="0"/> ..... ..... or do the best thing ... calibrate the gyro but you need a turntable. > Date: Sat, 3 Jan 2015 07:29:14 -0700 > From: address@hidden > To: address@hidden > Subject: [Paparazzi-devel] Question about IMU_GYRO > > Hello everyone: > I had some problems when calibrating IMU. I set the default value of gyro > and accel, like this > <section name="IMU" prefix="IMU_"> > <define name="MAG_X_NEUTRAL" value="-86"/> > <define name="MAG_Y_NEUTRAL" value="152"/> > <define name="MAG_Z_NEUTRAL" value="30"/> > <define name="MAG_X_SENS" value="1.45017097441" integer="16"/> > <define name="MAG_Y_SENS" value="2.37244963257" integer="16"/> > <define name="MAG_Z_SENS" value="2.75345267942" integer="16"/> > > <define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.0)"/> > <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.0)"/> > <define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.0)"/> > </section> > But .data file shows > 6.632 1 NAVIGATION 0 2 0. 0. 0. 0. 0 0 > 6.637 1 ATTITUDE 0.00204 1.639658 0.009085 > 6.637 1 IMU_GYRO -0.087158 -0.010498 0.000977 > ..... > 7.105 1 DOWNLINK_STATUS 0 7 4023 212 0 602. 32. 65.45 > 7.110 1 ATTITUDE 0.001997 1.63939 0.00913 > 7.111 1 IMU_GYRO -0.086182 -0.010498 0.003174 > the gp of IMU_GYRO is -0.086182 rad/s ,about -4.7 deg/s.However my ppz is > static. who can explain the situation and tell me how to solve this problem. > Any help will be appreciate. > > > > > > > > > > > -- > View this message in context: http://lists.paparazziuav.org/Question-about-IMU-GYRO-tp16595.html > Sent from the paparazzi-devel mailing list archive at Nabble.com. > > _______________________________________________ > Paparazzi-devel mailing list > address@hidden > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel |
[Prev in Thread] | Current Thread | [Next in Thread] |