Question about IMU_GYRO

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Question about IMU_GYRO

Jimmy
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Re: Question about IMU_GYRO

agressiva
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: [hidden email]
> To: [hidden email]
> 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
> [hidden email]
> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel

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Re: Question about IMU_GYRO

flixr
Administrator
Hi,

please note that the IMU_GYROx messages contain the raw/scaled IMU measurements before they are rotated to body frame and the bias (estimated by AHRS) is subtracted.
You can of course add the gyro neutrals as Eduardo wrote, but since basically all AHRS algorithms use the AHRS aligner (that calculates the average bias on startup), it shouldn't really make any difference in the end as the control loops use the bias compensated body rate from the state interface.

Cheers, Felix

On Sat, Jan 3, 2015 at 9:53 PM, Eduardo lavratti <[hidden email]> wrote:
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: [hidden email]
> To: [hidden email]
> 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
> [hidden email]
> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel

_______________________________________________
Paparazzi-devel mailing list
[hidden email]
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel



_______________________________________________
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[hidden email]
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel