[Paparazzi-devel] Question about IMU_GYRO

[Jimmy]

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.










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