Closed prabodhprakash closed 2 years ago
@prabodhprakash Hi, thank you for reporting. Please
simple_with_calibration
example first hey @hideakitai while I check for authenticity of the sensor, I tried the program with simple_with_calibration
and here's the result.
I just rotated the sensor from flat surface to perpendicular:
13:03:30.111 -> Euler X, Y, Z: 169.65, -68.10, 115.76
13:03:30.369 -> Euler X, Y, Z: 170.00, -67.95, 115.63
13:03:30.665 -> Euler X, Y, Z: 8.40, -56.15, -85.78
13:03:30.960 -> Euler X, Y, Z: 1.80, -16.44, -95.47
13:03:31.220 -> Euler X, Y, Z: 60.62, -80.69, -157.60
13:03:31.513 -> Euler X, Y, Z: 31.70, -67.39, -125.73
13:03:31.774 -> Euler X, Y, Z: 21.75, -50.76, -114.71
13:03:32.068 -> Euler X, Y, Z: 14.58, -31.50, -109.42
13:03:32.366 -> Euler X, Y, Z: 7.53, -13.79, -108.78
13:03:32.623 -> Euler X, Y, Z: 4.43, -7.42, -112.28
13:03:32.921 -> Euler X, Y, Z: 3.68, -5.85, -115.80
The EulerX changes by almost 180 degrees
How about NOT perpendicular angles? In the perpendicular angles, you may encounter a gimbal lock
https://stackoverflow.com/questions/41933779/madgwick-imu-90-degrees-angles?utm_source=pocket_mylist
other angles are also not working fine - like when I rotate by 45-degrees - the rotation is either very high or very low. It is consistent across axis (like always very high or low) - but never correct.
On Thu, 21 Oct 2021 at 1:28 PM, Hideaki Tai @.***> wrote:
How about NOT perpendicular angles? In the perpendicular angles, you may encounter a gimbal lock
https://stackoverflow.com/questions/41933779/madgwick-imu-90-degrees-angles?utm_source=pocket_mylist
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-- Prabodh Prakash
Hmm, I think there are two possibilities.
The sensor has this written:
9250/9255/6500/6555 and if you open this link: https://www.xcluma.com/mpu-9250-gy-9250-mpu9250-nine-axis-sensor-module-i2c-spi-communication?search=9250
Prabodh Prakash
On Thu, Oct 21, 2021 at 2:51 PM Hideaki Tai @.***> wrote:
Hmm, I think there are two possibilities.
- Calibration is not enough (see #68 https://github.com/hideakitai/MPU9250/issues/68 #62 https://github.com/hideakitai/MPU9250/issues/62 )
Your device is not MPU9250 but MPU9265(?) (maybe the magnetometer inside is not the same as MPU9250)
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I don't know if this is truly MPU-9250, but I can't support it if it isn't (not compatible with MPU-9250). If you are confident about your calibration, how about trying another MPU9250 library? It may work fine with yours.
I tried other libraries as well - but couldn't get it work :-(
I'm sorry to hear that... I don't think it's a problem with this library, so I'm closing this issue. But I wish you good luck with your project! You can fuse raw sensor values manually with an external library like this : MadgwickAHRS
Hardware: MPU9250: https://www.xcluma.com/mpu-9250-gy-9250-mpu9250-nine-axis-sensor-module-i2c-spi-communication?search=9250
ESP8266MOD: https://handsontec.com/index.php/product/esp8266-remote-serial-wifi-module/
Connection:
To setup biases: I calibrated my sensor 5 times using
calibration.ino
and averaged out the values.Code:
Problem: Unable to get consistent euler angles in any direction.
If I rotate the sensor perpendicular - the expectation is that one of the (x, y, z) should change by 90 - however, on some axis it changes by 180 and on other axis it changes less than 90.
Kindly help