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Re: [Paparazzi-devel] Drotek imu calibration problem

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Drotek imu calibration problem
Date: Wed, 10 Apr 2013 14:43:36 +0200

Hi Chris,

in which orientation did you mount your imu? If you get a positive value on z when your imu is level, it is either upside down or your accel signs are wrong.
If it is mounted upside down, you need to set your BODY_TO_IMU accordingly.
The imu measurements are always in the imu axes and not the body axes.
So please check if all your signs and axes are correct, according to

Cheers, Felix

On Wed, Apr 10, 2013 at 2:02 PM, Chris <address@hidden> wrote:
Hi Felix
I checked the scaled values and it was over 20m/s so i switched to the calculated defines

<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"/>

With the above values i get 9.81m/s but the artificial horizon starts to drift immediately and after 10 seconds is upside down. With the older values it worked ok i think but the scaled values were just above 20m/s (the neutral values are ok).
What could be wrong?
Btw i obtained those values by following the directions in the wiki (create log files etc)

On 04/10/2013 04:27 AM, wrote:
the calibration result looks good. Did you create the log with the same
To check your scale, please switch telemetry to scaled_sensors and make
sure you get -9.81 m/s? on z when the IMU is level.

Cheers, Felix

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