CASE II/a
Placing the imu differently, with the y axes pointing down (see the illustration below) and calibrate it in that position.
After calibration, I get odd measurements values (imu is still in the same position as it was during the calibration).
CASE II/b
After calibrating the imu in CASE II/a position, during measurements, move the imu into CASE I position (so z axes points upwards).
Now it seems like the y axes and the z axes are virtually mixed up. Is this behaviour intentional? That would mean that the imu can only be used (with calibration) correctly if it placed like in CASE I.
Am I doing something wrong? Or the imu can really be calibrated correctly only in horizontal (CASE I) position?
Hi @hideakitai !
I would like to understand how acc and gyro calibration works.
Below is the orientation of the accelerometer axes according to the MPU9250 documentation.
CASE I Placing the imu plane on the table (just like in the illustration below) and calibrate it in that position. The measured values seems correct:
CASE II/a Placing the imu differently, with the y axes pointing down (see the illustration below) and calibrate it in that position. After calibration, I get odd measurements values (imu is still in the same position as it was during the calibration).
CASE II/b After calibrating the imu in CASE II/a position, during measurements, move the imu into CASE I position (so z axes points upwards). Now it seems like the y axes and the z axes are virtually mixed up. Is this behaviour intentional? That would mean that the imu can only be used (with calibration) correctly if it placed like in CASE I.
Am I doing something wrong? Or the imu can really be calibrated correctly only in horizontal (CASE I) position?