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[Paparazzi-devel] Drotek imu calibration problem

From: Chris
Subject: [Paparazzi-devel] Drotek imu calibration problem
Date: Thu, 04 Apr 2013 19:38:47 +0300
User-agent: Mozilla/5.0 (X11; Linux i686; rv:17.0) Gecko/20130308 Thunderbird/17.0.4

I got the Drotek imu to work ok with the twog but i have two problems.
1) The X axis seems to be reversed (towards the i2c signal pads and not according to the arrows
printed on the pcb)
I know that aspirin has this backwards but this is the 10df imu with the mpu6050 on I2C bus, who knows maybe it has the same flaw.

2) i tried to calibrate the accelerometer and what i got was not correct because the imu started to drift wildly.
Here is the console output:
address@hidden:~$ ~/paparazzi/sw/tools/calibration/ -s ACCEL ~/paparazzi/var/logs/
initial guess : avg 9.73738108474 std 0.0314174753141
optimized guess : avg 9.80993257151 std 0.0257190383087

<define name="ACCEL_X_NEUTRAL" value="61"/>
<define name="ACCEL_Y_NEUTRAL" value="6"/>
<define name="ACCEL_Z_NEUTRAL" value="-67"/>
<define name="ACCEL_X_SENS" value="4.87542830698" integer="16"/>
<define name="ACCEL_Y_SENS" value="4.89064537368" integer="16"/>
<define name="ACCEL_Z_SENS" value="4.81527520369" integer="16"/>


And here is what i use for now which works ok:
<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
    <define name="ACCEL_X_SENS" value="9.81" integer="16"/>
    <define name="ACCEL_Y_SENS" value="9.81" integer="16"/>
    <define name="ACCEL_Z_SENS" value="9.81" integer="16"/>

Any ideas?

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