Roll and Pitch affect Yaw

GoogleCodeExporter commented 8 years ago

What steps will reproduce the problem?
1. Switch on Razor IMU, using either v1.0 or v1.1
2. Keep IMU flat, point it to yaw = 0
3. Now rotate the IMU 45 around the pitch axis, either side

What is the expected output? What do you see instead?
Expected to see the yaw output to remain constant - Was sure output was tilt 
compensated

What version of the product are you using? On what operating system?
Tried both v1.0 and v1.1. Windows 7 x64.

Please provide any additional information below.

All measurements done fixed to the yaw = 0 line (reading taken in flat position)

Whilst pitch = 0

roll   yaw
30     -23
20     -17
10     -10
0      0
-10    14
-20    26
-30    30

Whilst roll = 0

pitch    yaw
30       -10
40       -50
0        0
-30      1
-40      1 

Weird - positive readings affect yaw, negative don't

I would really appreciate some help, I'm using the IMU in a project which needs 
to be ready pretty soon, and I have only just become aware of this issue (after 
a year of work) :/

Original issue reported on code.google.com by deee.ka...@gmail.com on 8 Feb 2012 at 10:13

GoogleCodeExporter commented 8 years ago

Checked all the sensors individually, they all seem to be giving valid readings.

Original comment by deee.ka...@gmail.com on 8 Feb 2012 at 10:33

GoogleCodeExporter commented 8 years ago

Weird, seems like the positive pitch compensation is working.. At least now it 
is.

The roll problem persists. If the board is tilted to the right, the yaw heads 
clockwise, and if it is tilted to the left, the yaw heads anti-clockwise (Just 
looked at it in the python interface, this is truly driving me nuts now)

Original comment by deee.ka...@gmail.com on 8 Feb 2012 at 10:52

GoogleCodeExporter commented 8 years ago

http://code.google.com/p/sf9domahrs/issues/detail?id=7

Seems like another person with same problem.

Original comment by deee.ka...@gmail.com on 8 Feb 2012 at 11:18

GoogleCodeExporter commented 8 years ago

Hello,

I am currently working on my own implementation of IMU (GY-80 with Arduino). I 
have same kind of issues. Pitch compensation works just fine, but roll have 
some negative influence on my heading calculations.

Did you make any progress?

Regards.

Original comment by matejmin...@gmail.com on 2 Feb 2014 at 9:49

henrioliv / sf9domahrs

Roll and Pitch affect Yaw #35