Re: [Paparazzi-devel] Question about IMU_GYRO

[Eduardo lavratti]

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.
>
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> --
> View this message in context: http://lists.paparazziuav.org/Question-about-IMU-GYRO-tp16595.html
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>
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