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atopile / swoop

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Aligning the mag, accel and gyro sensor axis #15

Open Timot05 opened 5 months ago

Timot05 commented 5 months ago

Using this issue to document the mag, accel and gyro sensor axis alignement.

Timot05 commented 5 months ago

From graphing the output sensor values from experiment, we have: IMG_7487

-> data is for LIS3MDLTR and MPU6500

Timot05 commented 5 months ago

MPU6500 datasheet

Screenshot 2024-04-15 at 21 44 04

LIS3MDL datasheet

Screenshot 2024-04-15 at 21 44 34
MaEtUgR commented 5 months ago

Thanks for the info. I can give this a go once I'm vack at the keyboard next week. Luckily I spent quite some time with these sensors on drone programming 😅

Timot05 commented 4 months ago

Nice! I've updated the math here and added the extraction of control angles. Everything lives in python at the moment so we'll have to port it over to C for the RP2040 micro once we are happy with it: https://github.com/atopile/swoop/pull/17