Open exzibith opened 6 years ago
Something is wrong with our gyro data.
Calibration is a function of the specific sensor youa re using. Once you have good calibration data, you can store in the sketch and not have to calibrate again, or for a while anyway.
On Wed, Feb 28, 2018 at 7:06 PM, exzibith notifications@github.com wrote:
I'm using WEMOS Lolin32 board and merge your MPU9250_MS5637_AHRS_t3.ino code. calibration results as below :
MPU9250 9-DOF 16-bit motion sensor 60 ug LSB Scanning... I2C device found at address 0x0C ! I2C device found at address 0x68 ! done
MPU9250 9-axis motion sensor... MPU9250 I AM 73 I should be 73 MPU9250 is online... x-axis self test: acceleration trim within : -0.4% of factory value y-axis self test: acceleration trim within : 0.1% of factory value z-axis self test: acceleration trim within : 0.6% of factory value x-axis self test: gyration trim within : -0.5% of factory value y-axis self test: gyration trim within : -0.3% of factory value z-axis self test: gyration trim within : 0.3% of factory value Calibrate gyro and accel accel biases (mg) 11.11 45.23 -17.58 gyro biases (dps) 2.89 0.05 -0.92 MPU9250 bias x y z 1145-17mg2.90.0-0.9o/s MPU9250 initialized for active data mode.... AK8963 I AM 48 I should be 48 AK8963 initialized for active data mode.... Mag Calibration: Wave device in a figure eight until done! Mag Calibration done! AK8963 mag biases (mG) -253.08 709.87 -765.09 AK8963 mag scale (mG) 1.87 0.49 2.47 X-Axis sensitivity adjustment value 1.16 Y-Axis sensitivity adjustment value 1.17 Z-Axis sensitivity adjustment value 1.13 AK8963 ASAX 1.16 ASAY 1.17 ASAZ 1.13 ax = 0.00 ay = 0.00 az = 0.00 mg gx = 0.00 gy = 0.00 gz = 0.00 deg/s mx = 0 my = 0 mz = 0 mG q0 = 1.00 qx = 0.00 qy = 0.00 qz = 0.00 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 0.42, 0.00, 0.00 Grav_x, Grav_y, Grav_z: 0.00, 0.00, 1000.00 mg Lin_ax, Lin_ay, Lin_az: 0.00, 0.00, -1000.00 mg rate = 1.02 Hz
x y z : 0, 0, 0 mg 0, 0, 0 o/s 0, 0, 0 mG 0, 0, 0 ypr ax = 88.93 ay = 360.78 az = 980.59 mg gx = 3.34 gy = 2.61 gz = -93.29 deg/s mx = 13 my = 55 mz = -20 mG q0 = 0.99 qx = -0.00 qy = 0.00 qz = 0.12 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 13.66, 0.48, -0.11 Grav_x, Grav_y, Grav_z: 1.87, 8.31, 999.96 mg Lin_ax, Lin_ay, Lin_az: 87.06, 352.47, -19.37 mg rate = 25228.31 Hz
x y z : 88, 360, 980 mg 3, 2, -93 o/s 13, 55, -20 mG 13, 0, 0 ypr ax = -126.46 ay = -424.93 az = 964.42 mg gx = 9.85 gy = -15.11 gz = 78.01 deg/s mx = -3 my = 51 mz = -16 mG q0 = 0.99 qx = 0.00 qy = -0.02 qz = 0.12 Gyro temperature is 29.0 degrees C Yaw, Pitch, Roll: 14.19, -1.91, -0.15 Grav_x, Grav_y, Grav_z: 2.61, -33.32, 999.44 mg Lin_ax, Lin_ay, Lin_az: -129.08, -391.60, -35.02 mg rate = 24958.09 Hz
x y z : -126, -424, 964 mg 9, -15, 78 o/s -3, 51, -16 mG 14, -1, 0 ypr ax = -206.60 ay = 250.85 az = 972.05 mg gx = 2.91 gy = 3.18 gz = 40.81 deg/s mx = -55 my = -13 mz = -8 mG q0 = 1.00 qx = -0.01 qy = -0.02 qz = -0.08 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 350.83, -1.96, -0.76 Grav_x, Grav_y, Grav_z: 13.20, -34.25, 999.33 mg Lin_ax, Lin_ay, Lin_az: -219.81, 285.10, -27.28 mg rate = 25138.67 Hz
x y z : -206, 250, 972 mg 2, 3, 40 o/s -55, -13, -8 mG 350, -1, 0 ypr ax = 283.08 ay = -431.52 az = 923.46 mg gx = -3.99 gy = -13.04 gz = -50.22 deg/s mx = -39 my = -12 mz = -62 mG q0 = 0.99 qx = 0.01 qy = 0.00 qz = -0.12 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 346.40, 0.20, 0.88 Grav_x, Grav_y, Grav_z: -15.37, 3.44, 999.88 mg Lin_ax, Lin_ay, Lin_az: 298.45, -434.96, -76.41 mg rate = 24923.69 Hz
x y z : 283, -431, 923 mg -3, -13, -50 o/s -39, -12, -62 mG 346, 0, 0 ypr ax = -76.17 ay = 44.74 az = 1054.02 mg gx = -5.98 gy = 4.36 gz = -4.61 deg/s mx = -32 my = 16 mz = 37 mG q0 = 1.00 qx = -0.02 qy = -0.02 qz = -0.04 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 355.60, -2.30, -2.68 Grav_x, Grav_y, Grav_z: 46.65, -40.14, 998.10 mg Lin_ax, Lin_ay, Lin_az: -122.82, 84.88, 55.91 mg rate = 25006.99 Hz
x y z : -76, 44, 1054 mg -5, 4, -4 o/s -32, 16, 37 mG 355, -2, -2 ypr ax = -590.39 ay = 7.08 az = 1024.84 mg gx = 5.65 gy = 6.39 gz = 21.10 deg/s mx = 26 my = 82 mz = -20 mG q0 = 0.99 qx = -0.00 qy = -0.02 qz = 0.12 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 14.49, -1.73, -0.29 Grav_x, Grav_y, Grav_z: 5.01, -30.28, 999.53 mg Lin_ax, Lin_ay, Lin_az: -595.40, 37.36, 25.31 mg rate = 25099.67 Hz
x y z : -590, 7, 1024 mg 5, 6, 21 o/s 26, 82, -20 mG 14, -1, 0 ypr ax = 91.80 ay = -119.75 az = 1031.62 mg gx = 6.31 gy = -3.78 gz = 45.30 deg/s mx = -65 my = 11 mz = -20 mG q0 = 0.99 qx = -0.01 qy = -0.03 qz = -0.10 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 349.14, -3.36, -1.34 Grav_x, Grav_y, Grav_z: 23.39, -58.66, 998.00 mg Lin_ax, Lin_ay, Lin_az: 68.40, -61.09, 33.61 mg rate = 25092.80 Hz
x y z : 91, -119, 1031 mg 6, -3, 45 o/s -65, 11, -20 mG 349, -3, -1 ypr ax = 58.11 ay = 272.52 az = 1021.00 mg gx = -2.88 gy = -0.66 gz = 70.86 deg/s mx = -42 my = -46 mz = -16 mG q0 = 0.97 qx = -0.01 qy = -0.03 qz = -0.25 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 331.69, -3.58, -0.78 Grav_x, Grav_y, Grav_z: 13.55, -62.41, 997.96 mg Lin_ax, Lin_ay, Lin_az: 44.56, 334.93, 23.04 mg rate = 24969.78 Hz
x y z : 58, 272, 1020 mg -2, 0, 70 o/s -42, -46, -16 mG 331, -3, 0 ypr ax = -81.54 ay = -174.32 az = 1027.95 mg gx = -8.19 gy = -1.12 gz = -53.87 deg/s mx = -26 my = -9 mz = -62 mG q0 = 0.98 qx = -0.02 qy = -0.02 qz = -0.19 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 338.70, -3.14, -1.53 Grav_x, Grav_y, Grav_z: 26.71, -54.79, 998.14 mg Lin_ax, Lin_ay, Lin_az: -108.25, -119.53, 29.81 mg rate = 25058.47 Hz
x y z : -81, -174, 1027 mg -8, -1, -53 o/s -26, -9, -62 mG 338, -3, -1 ypr ax = -32.35 ay = -10.80 az = 989.07 mg gx = 0.49 gy = -0.05 gz = 1.79 deg/s mx = -58 my = 21 mz = -54 mG q0 = 0.99 qx = -0.02 qy = -0.03 qz = -0.13 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 345.72, -4.06, -1.72 Grav_x, Grav_y, Grav_z: 29.94, -70.87, 997.04 mg Lin_ax, Lin_ay, Lin_az: -62.29, 60.06, -7.96 mg rate = 25147.32 Hz
x y z : -32, -10, 989 mg 0, 0, 1 o/s -58, 21, -54 mG 345, -4, -1 ypr ax = -19.29 ay = 8.18 az = 995.61 mg gx = -0.05 gy = 0.12 gz = -1.88 deg/s mx = -55 my = 22 mz = -41 mG q0 = 0.99 qx = -0.03 qy = -0.03 qz = -0.15 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 342.70, -4.27, -2.68 Grav_x, Grav_y, Grav_z: 46.66, -74.43, 996.13 mg Lin_ax, Lin_ay, Lin_az: -65.95, 82.61, -0.53 mg rate = 25316.27 Hz
x y z : -19, 8, 995 mg 0, 0, -1 o/s -55, 22, -41 mG 342, -4, -2 ypr ax = -7.51 ay = 10.31 az = 992.25 mg gx = 0.19 gy = 0.18 gz = -0.10 deg/s mx = -29 my = 22 mz = -25 mG q0 = 0.98 qx = -0.03 qy = -0.03 qz = -0.17 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 340.52, -4.24, -3.19 Grav_x, Grav_y, Grav_z: 55.56, -73.89, 995.72 mg Lin_ax, Lin_ay, Lin_az: -63.06, 84.20, -3.47 mg rate = 25437.74 Hz
x y z : -7, 10, 992 mg 0, 0, 0 o/s -29, 22, -25 mG 340, -4, -3 ypr ax = 89.72 ay = 19.47 az = 1062.68 mg gx = -9.94 gy = -2.55 gz = -48.47 deg/s mx = -6 my = 40 mz = -12 mG q0 = 0.99 qx = -0.04 qy = -0.01 qz = -0.14 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 344.50, -2.34, -4.67 Grav_x, Grav_y, Grav_z: 81.33, -40.77, 995.85 mg Lin_ax, Lin_ay, Lin_az: 8.39, 60.24, 66.83 mg rate = 25083.33 Hz
x y z : 89, 19, 1062 mg -9, -2, -48 o/s -6, 40, -12 mG 344, -2, -4 ypr ax = -320.56 ay = -130.19 az = 869.93 mg gx = 9.10 gy = 9.52 gz = 35.00 deg/s mx = -16 my = 54 mz = 8 mG q0 = 1.00 qx = -0.02 qy = -0.02 qz = -0.07 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 352.77, -2.76, -2.66 Grav_x, Grav_y, Grav_z: 46.40, -48.08, 997.77 mg Lin_ax, Lin_ay, Lin_az: -366.95, -82.11, -127.83 mg rate = 25107.07 Hz
x y z : -320, -130, 869 mg 9, 9, 34 o/s -16, 54, 8 mG 352, -2, -2 ypr ax = 39.49 ay = 119.75 az = 1056.58 mg gx = -15.62 gy = 1.25 gz = 18.19 deg/s mx = -68 my = 15 mz = 16 mG q0 = 0.97 qx = -0.04 qy = -0.02 qz = -0.22 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 335.43, -3.75, -4.06 Grav_x, Grav_y, Grav_z: 70.58, -65.33, 995.36 mg Lin_ax, Lin_ay, Lin_az: -31.09, 185.09, 61.22 mg rate = 25129.30 Hz x y z : 39, 119, 1056 mg -15, 1, 18 o/s -68, 15, 16 mG 335, -3, -4 ypr
====================================================
- Is this calibration result correct?
- how to plot the calibration data results? is it necessary third party software?
- does each board restart need to calibrate the data with eight figure?
- I'm trying to create a project like the freedrum stick website (freedrum.rock), does this sketch match my project, to calibrate the MPU-9250?
- i'm in need of data results from mpu 9250 which is already converted to degrees and angles 0-360 degrees?
- I want every time I restart the wemos board wherever the direction of its position, I get the data value of 0 degree angle.
thanks a lot for the help and input, I'm still new to using MPU-9250, so still have to ask a lot of the experts.
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wrong with your gyro data.
On Wed, Feb 28, 2018 at 7:14 PM, Tlera Corporation tleracorp@gmail.com wrote:
Something is wrong with our gyro data.
Calibration is a function of the specific sensor youa re using. Once you have good calibration data, you can store in the sketch and not have to calibrate again, or for a while anyway.
On Wed, Feb 28, 2018 at 7:06 PM, exzibith notifications@github.com wrote:
I'm using WEMOS Lolin32 board and merge your MPU9250_MS5637_AHRS_t3.ino code. calibration results as below :
MPU9250 9-DOF 16-bit motion sensor 60 ug LSB Scanning... I2C device found at address 0x0C ! I2C device found at address 0x68 ! done
MPU9250 9-axis motion sensor... MPU9250 I AM 73 I should be 73 MPU9250 is online... x-axis self test: acceleration trim within : -0.4% of factory value y-axis self test: acceleration trim within : 0.1% of factory value z-axis self test: acceleration trim within : 0.6% of factory value x-axis self test: gyration trim within : -0.5% of factory value y-axis self test: gyration trim within : -0.3% of factory value z-axis self test: gyration trim within : 0.3% of factory value Calibrate gyro and accel accel biases (mg) 11.11 45.23 -17.58 gyro biases (dps) 2.89 0.05 -0.92 MPU9250 bias x y z 1145-17mg2.90.0-0.9o/s MPU9250 initialized for active data mode.... AK8963 I AM 48 I should be 48 AK8963 initialized for active data mode.... Mag Calibration: Wave device in a figure eight until done! Mag Calibration done! AK8963 mag biases (mG) -253.08 709.87 -765.09 AK8963 mag scale (mG) 1.87 0.49 2.47 X-Axis sensitivity adjustment value 1.16 Y-Axis sensitivity adjustment value 1.17 Z-Axis sensitivity adjustment value 1.13 AK8963 ASAX 1.16 ASAY 1.17 ASAZ 1.13 ax = 0.00 ay = 0.00 az = 0.00 mg gx = 0.00 gy = 0.00 gz = 0.00 deg/s mx = 0 my = 0 mz = 0 mG q0 = 1.00 qx = 0.00 qy = 0.00 qz = 0.00 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 0.42, 0.00, 0.00 Grav_x, Grav_y, Grav_z: 0.00, 0.00, 1000.00 mg Lin_ax, Lin_ay, Lin_az: 0.00, 0.00, -1000.00 mg rate = 1.02 Hz
x y z : 0, 0, 0 mg 0, 0, 0 o/s 0, 0, 0 mG 0, 0, 0 ypr ax = 88.93 ay = 360.78 az = 980.59 mg gx = 3.34 gy = 2.61 gz = -93.29 deg/s mx = 13 my = 55 mz = -20 mG q0 = 0.99 qx = -0.00 qy = 0.00 qz = 0.12 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 13.66, 0.48, -0.11 Grav_x, Grav_y, Grav_z: 1.87, 8.31, 999.96 mg Lin_ax, Lin_ay, Lin_az: 87.06, 352.47, -19.37 mg rate = 25228.31 Hz
x y z : 88, 360, 980 mg 3, 2, -93 o/s 13, 55, -20 mG 13, 0, 0 ypr ax = -126.46 ay = -424.93 az = 964.42 mg gx = 9.85 gy = -15.11 gz = 78.01 deg/s mx = -3 my = 51 mz = -16 mG q0 = 0.99 qx = 0.00 qy = -0.02 qz = 0.12 Gyro temperature is 29.0 degrees C Yaw, Pitch, Roll: 14.19, -1.91, -0.15 Grav_x, Grav_y, Grav_z: 2.61, -33.32, 999.44 mg Lin_ax, Lin_ay, Lin_az: -129.08, -391.60, -35.02 mg rate = 24958.09 Hz
x y z : -126, -424, 964 mg 9, -15, 78 o/s -3, 51, -16 mG 14, -1, 0 ypr ax = -206.60 ay = 250.85 az = 972.05 mg gx = 2.91 gy = 3.18 gz = 40.81 deg/s mx = -55 my = -13 mz = -8 mG q0 = 1.00 qx = -0.01 qy = -0.02 qz = -0.08 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 350.83, -1.96, -0.76 Grav_x, Grav_y, Grav_z: 13.20, -34.25, 999.33 mg Lin_ax, Lin_ay, Lin_az: -219.81, 285.10, -27.28 mg rate = 25138.67 Hz
x y z : -206, 250, 972 mg 2, 3, 40 o/s -55, -13, -8 mG 350, -1, 0 ypr ax = 283.08 ay = -431.52 az = 923.46 mg gx = -3.99 gy = -13.04 gz = -50.22 deg/s mx = -39 my = -12 mz = -62 mG q0 = 0.99 qx = 0.01 qy = 0.00 qz = -0.12 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 346.40, 0.20, 0.88 Grav_x, Grav_y, Grav_z: -15.37, 3.44, 999.88 mg Lin_ax, Lin_ay, Lin_az: 298.45, -434.96, -76.41 mg rate = 24923.69 Hz
x y z : 283, -431, 923 mg -3, -13, -50 o/s -39, -12, -62 mG 346, 0, 0 ypr ax = -76.17 ay = 44.74 az = 1054.02 mg gx = -5.98 gy = 4.36 gz = -4.61 deg/s mx = -32 my = 16 mz = 37 mG q0 = 1.00 qx = -0.02 qy = -0.02 qz = -0.04 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 355.60, -2.30, -2.68 Grav_x, Grav_y, Grav_z: 46.65, -40.14, 998.10 mg Lin_ax, Lin_ay, Lin_az: -122.82, 84.88, 55.91 mg rate = 25006.99 Hz
x y z : -76, 44, 1054 mg -5, 4, -4 o/s -32, 16, 37 mG 355, -2, -2 ypr ax = -590.39 ay = 7.08 az = 1024.84 mg gx = 5.65 gy = 6.39 gz = 21.10 deg/s mx = 26 my = 82 mz = -20 mG q0 = 0.99 qx = -0.00 qy = -0.02 qz = 0.12 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 14.49, -1.73, -0.29 Grav_x, Grav_y, Grav_z: 5.01, -30.28, 999.53 mg Lin_ax, Lin_ay, Lin_az: -595.40, 37.36, 25.31 mg rate = 25099.67 Hz
x y z : -590, 7, 1024 mg 5, 6, 21 o/s 26, 82, -20 mG 14, -1, 0 ypr ax = 91.80 ay = -119.75 az = 1031.62 mg gx = 6.31 gy = -3.78 gz = 45.30 deg/s mx = -65 my = 11 mz = -20 mG q0 = 0.99 qx = -0.01 qy = -0.03 qz = -0.10 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 349.14, -3.36, -1.34 Grav_x, Grav_y, Grav_z: 23.39, -58.66, 998.00 mg Lin_ax, Lin_ay, Lin_az: 68.40, -61.09, 33.61 mg rate = 25092.80 Hz
x y z : 91, -119, 1031 mg 6, -3, 45 o/s -65, 11, -20 mG 349, -3, -1 ypr ax = 58.11 ay = 272.52 az = 1021.00 mg gx = -2.88 gy = -0.66 gz = 70.86 deg/s mx = -42 my = -46 mz = -16 mG q0 = 0.97 qx = -0.01 qy = -0.03 qz = -0.25 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 331.69, -3.58, -0.78 Grav_x, Grav_y, Grav_z: 13.55, -62.41, 997.96 mg Lin_ax, Lin_ay, Lin_az: 44.56, 334.93, 23.04 mg rate = 24969.78 Hz
x y z : 58, 272, 1020 mg -2, 0, 70 o/s -42, -46, -16 mG 331, -3, 0 ypr ax = -81.54 ay = -174.32 az = 1027.95 mg gx = -8.19 gy = -1.12 gz = -53.87 deg/s mx = -26 my = -9 mz = -62 mG q0 = 0.98 qx = -0.02 qy = -0.02 qz = -0.19 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 338.70, -3.14, -1.53 Grav_x, Grav_y, Grav_z: 26.71, -54.79, 998.14 mg Lin_ax, Lin_ay, Lin_az: -108.25, -119.53, 29.81 mg rate = 25058.47 Hz
x y z : -81, -174, 1027 mg -8, -1, -53 o/s -26, -9, -62 mG 338, -3, -1 ypr ax = -32.35 ay = -10.80 az = 989.07 mg gx = 0.49 gy = -0.05 gz = 1.79 deg/s mx = -58 my = 21 mz = -54 mG q0 = 0.99 qx = -0.02 qy = -0.03 qz = -0.13 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 345.72, -4.06, -1.72 Grav_x, Grav_y, Grav_z: 29.94, -70.87, 997.04 mg Lin_ax, Lin_ay, Lin_az: -62.29, 60.06, -7.96 mg rate = 25147.32 Hz
x y z : -32, -10, 989 mg 0, 0, 1 o/s -58, 21, -54 mG 345, -4, -1 ypr ax = -19.29 ay = 8.18 az = 995.61 mg gx = -0.05 gy = 0.12 gz = -1.88 deg/s mx = -55 my = 22 mz = -41 mG q0 = 0.99 qx = -0.03 qy = -0.03 qz = -0.15 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 342.70, -4.27, -2.68 Grav_x, Grav_y, Grav_z: 46.66, -74.43, 996.13 mg Lin_ax, Lin_ay, Lin_az: -65.95, 82.61, -0.53 mg rate = 25316.27 Hz
x y z : -19, 8, 995 mg 0, 0, -1 o/s -55, 22, -41 mG 342, -4, -2 ypr ax = -7.51 ay = 10.31 az = 992.25 mg gx = 0.19 gy = 0.18 gz = -0.10 deg/s mx = -29 my = 22 mz = -25 mG q0 = 0.98 qx = -0.03 qy = -0.03 qz = -0.17 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 340.52, -4.24, -3.19 Grav_x, Grav_y, Grav_z: 55.56, -73.89, 995.72 mg Lin_ax, Lin_ay, Lin_az: -63.06, 84.20, -3.47 mg rate = 25437.74 Hz
x y z : -7, 10, 992 mg 0, 0, 0 o/s -29, 22, -25 mG 340, -4, -3 ypr ax = 89.72 ay = 19.47 az = 1062.68 mg gx = -9.94 gy = -2.55 gz = -48.47 deg/s mx = -6 my = 40 mz = -12 mG q0 = 0.99 qx = -0.04 qy = -0.01 qz = -0.14 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 344.50, -2.34, -4.67 Grav_x, Grav_y, Grav_z: 81.33, -40.77, 995.85 mg Lin_ax, Lin_ay, Lin_az: 8.39, 60.24, 66.83 mg rate = 25083.33 Hz
x y z : 89, 19, 1062 mg -9, -2, -48 o/s -6, 40, -12 mG 344, -2, -4 ypr ax = -320.56 ay = -130.19 az = 869.93 mg gx = 9.10 gy = 9.52 gz = 35.00 deg/s mx = -16 my = 54 mz = 8 mG q0 = 1.00 qx = -0.02 qy = -0.02 qz = -0.07 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 352.77, -2.76, -2.66 Grav_x, Grav_y, Grav_z: 46.40, -48.08, 997.77 mg Lin_ax, Lin_ay, Lin_az: -366.95, -82.11, -127.83 mg rate = 25107.07 Hz
x y z : -320, -130, 869 mg 9, 9, 34 o/s -16, 54, 8 mG 352, -2, -2 ypr ax = 39.49 ay = 119.75 az = 1056.58 mg gx = -15.62 gy = 1.25 gz = 18.19 deg/s mx = -68 my = 15 mz = 16 mG q0 = 0.97 qx = -0.04 qy = -0.02 qz = -0.22 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 335.43, -3.75, -4.06 Grav_x, Grav_y, Grav_z: 70.58, -65.33, 995.36 mg Lin_ax, Lin_ay, Lin_az: -31.09, 185.09, 61.22 mg rate = 25129.30 Hz x y z : 39, 119, 1056 mg -15, 1, 18 o/s -68, 15, 16 mG 335, -3, -4 ypr
====================================================
- Is this calibration result correct?
- how to plot the calibration data results? is it necessary third party software?
- does each board restart need to calibrate the data with eight figure?
- I'm trying to create a project like the freedrum stick website (freedrum.rock), does this sketch match my project, to calibrate the MPU-9250?
- i'm in need of data results from mpu 9250 which is already converted to degrees and angles 0-360 degrees?
- I want every time I restart the wemos board wherever the direction of its position, I get the data value of 0 degree angle.
thanks a lot for the help and input, I'm still new to using MPU-9250, so still have to ask a lot of the experts.
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which one is wrong with the data gyro? Is this? I tested it with figure 8,
gx = 9.85 gy = -15.11 gz = 78.01 deg/s gx = 2.91 gy = 3.18 gz = 40.81 deg/s
whether for the next data mag bias calibration can i use my own way? as follows?
readMagData (magCount); // Read the x / y / z adc values getMres (); // Supplement magBias [0] = -237.37; // Additional calibration results User environmental x-axis correction in milliGauss, should be automatically calculated magBias [1] = +771.37; // Additional calibration results User environmental x-axis correction in milliGauss magBias [2] = -775.24; // Additional calibration results User environmental x-axis correction in milliGauss
Gyro at rest (no motion) should be much less that 1 dps.
Yes, once you have the calibration right, you can embed in the sketch.
On Wed, Feb 28, 2018 at 8:02 PM, exzibith notifications@github.com wrote:
which one is wrong with the data gyro? Is this? I tested it with figure 8,
gx = 9.85 gy = -15.11 gz = 78.01 deg/s gx = 2.91 gy = 3.18 gz = 40.81 deg/s
whether for the next data mag bias calibration can i use my own way? as follows?
readMagData (magCount); // Read the x / y / z adc values getMres (); // Supplement magBias [0] = -237.37; // Additional calibration results User environmental x-axis correction in milliGauss, should be automatically calculated magBias [1] = +771.37; // Additional calibration results User environmental x-axis correction in milliGauss magBias [2] = -775.24; // Additional calibration results User environmental x-axis correction in milliGauss
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I'm using WEMOS Lolin32 board and merge your MPU9250_MS5637_AHRS_t3.ino code. calibration results as below :
MPU9250 9-DOF 16-bit motion sensor 60 ug LSB Scanning... I2C device found at address 0x0C ! I2C device found at address 0x68 ! done
MPU9250 9-axis motion sensor... MPU9250 I AM 73 I should be 73 MPU9250 is online... x-axis self test: acceleration trim within : -0.4% of factory value y-axis self test: acceleration trim within : 0.1% of factory value z-axis self test: acceleration trim within : 0.6% of factory value x-axis self test: gyration trim within : -0.5% of factory value y-axis self test: gyration trim within : -0.3% of factory value z-axis self test: gyration trim within : 0.3% of factory value Calibrate gyro and accel accel biases (mg) 11.11 45.23 -17.58 gyro biases (dps) 2.89 0.05 -0.92 MPU9250 bias x y z
1145-17mg2.90.0-0.9o/s MPU9250 initialized for active data mode.... AK8963 I AM 48 I should be 48 AK8963 initialized for active data mode.... Mag Calibration: Wave device in a figure eight until done! Mag Calibration done! AK8963 mag biases (mG) -253.08 709.87 -765.09 AK8963 mag scale (mG) 1.87 0.49 2.47 X-Axis sensitivity adjustment value 1.16 Y-Axis sensitivity adjustment value 1.17 Z-Axis sensitivity adjustment value 1.13 AK8963 ASAX 1.16 ASAY 1.17 ASAZ 1.13 ax = 0.00 ay = 0.00 az = 0.00 mg gx = 0.00 gy = 0.00 gz = 0.00 deg/s mx = 0 my = 0 mz = 0 mG q0 = 1.00 qx = 0.00 qy = 0.00 qz = 0.00 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 0.42, 0.00, 0.00 Grav_x, Grav_y, Grav_z: 0.00, 0.00, 1000.00 mg Lin_ax, Lin_ay, Lin_az: 0.00, 0.00, -1000.00 mg rate = 1.02 Hz
x y z : 0, 0, 0 mg 0, 0, 0 o/s 0, 0, 0 mG 0, 0, 0 ypr ax = 88.93 ay = 360.78 az = 980.59 mg gx = 3.34 gy = 2.61 gz = -93.29 deg/s mx = 13 my = 55 mz = -20 mG q0 = 0.99 qx = -0.00 qy = 0.00 qz = 0.12 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 13.66, 0.48, -0.11 Grav_x, Grav_y, Grav_z: 1.87, 8.31, 999.96 mg Lin_ax, Lin_ay, Lin_az: 87.06, 352.47, -19.37 mg rate = 25228.31 Hz
x y z : 88, 360, 980 mg 3, 2, -93 o/s 13, 55, -20 mG 13, 0, 0 ypr ax = -126.46 ay = -424.93 az = 964.42 mg gx = 9.85 gy = -15.11 gz = 78.01 deg/s mx = -3 my = 51 mz = -16 mG q0 = 0.99 qx = 0.00 qy = -0.02 qz = 0.12 Gyro temperature is 29.0 degrees C Yaw, Pitch, Roll: 14.19, -1.91, -0.15 Grav_x, Grav_y, Grav_z: 2.61, -33.32, 999.44 mg Lin_ax, Lin_ay, Lin_az: -129.08, -391.60, -35.02 mg rate = 24958.09 Hz
x y z : -126, -424, 964 mg 9, -15, 78 o/s -3, 51, -16 mG 14, -1, 0 ypr ax = -206.60 ay = 250.85 az = 972.05 mg gx = 2.91 gy = 3.18 gz = 40.81 deg/s mx = -55 my = -13 mz = -8 mG q0 = 1.00 qx = -0.01 qy = -0.02 qz = -0.08 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 350.83, -1.96, -0.76 Grav_x, Grav_y, Grav_z: 13.20, -34.25, 999.33 mg Lin_ax, Lin_ay, Lin_az: -219.81, 285.10, -27.28 mg rate = 25138.67 Hz
x y z : -206, 250, 972 mg 2, 3, 40 o/s -55, -13, -8 mG 350, -1, 0 ypr ax = 283.08 ay = -431.52 az = 923.46 mg gx = -3.99 gy = -13.04 gz = -50.22 deg/s mx = -39 my = -12 mz = -62 mG q0 = 0.99 qx = 0.01 qy = 0.00 qz = -0.12 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 346.40, 0.20, 0.88 Grav_x, Grav_y, Grav_z: -15.37, 3.44, 999.88 mg Lin_ax, Lin_ay, Lin_az: 298.45, -434.96, -76.41 mg rate = 24923.69 Hz
x y z : 283, -431, 923 mg -3, -13, -50 o/s -39, -12, -62 mG 346, 0, 0 ypr ax = -76.17 ay = 44.74 az = 1054.02 mg gx = -5.98 gy = 4.36 gz = -4.61 deg/s mx = -32 my = 16 mz = 37 mG q0 = 1.00 qx = -0.02 qy = -0.02 qz = -0.04 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 355.60, -2.30, -2.68 Grav_x, Grav_y, Grav_z: 46.65, -40.14, 998.10 mg Lin_ax, Lin_ay, Lin_az: -122.82, 84.88, 55.91 mg rate = 25006.99 Hz
x y z : -76, 44, 1054 mg -5, 4, -4 o/s -32, 16, 37 mG 355, -2, -2 ypr ax = -590.39 ay = 7.08 az = 1024.84 mg gx = 5.65 gy = 6.39 gz = 21.10 deg/s mx = 26 my = 82 mz = -20 mG q0 = 0.99 qx = -0.00 qy = -0.02 qz = 0.12 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 14.49, -1.73, -0.29 Grav_x, Grav_y, Grav_z: 5.01, -30.28, 999.53 mg Lin_ax, Lin_ay, Lin_az: -595.40, 37.36, 25.31 mg rate = 25099.67 Hz
x y z : -590, 7, 1024 mg 5, 6, 21 o/s 26, 82, -20 mG 14, -1, 0 ypr ax = 91.80 ay = -119.75 az = 1031.62 mg gx = 6.31 gy = -3.78 gz = 45.30 deg/s mx = -65 my = 11 mz = -20 mG q0 = 0.99 qx = -0.01 qy = -0.03 qz = -0.10 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 349.14, -3.36, -1.34 Grav_x, Grav_y, Grav_z: 23.39, -58.66, 998.00 mg Lin_ax, Lin_ay, Lin_az: 68.40, -61.09, 33.61 mg rate = 25092.80 Hz
x y z : 91, -119, 1031 mg 6, -3, 45 o/s -65, 11, -20 mG 349, -3, -1 ypr ax = 58.11 ay = 272.52 az = 1021.00 mg gx = -2.88 gy = -0.66 gz = 70.86 deg/s mx = -42 my = -46 mz = -16 mG q0 = 0.97 qx = -0.01 qy = -0.03 qz = -0.25 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 331.69, -3.58, -0.78 Grav_x, Grav_y, Grav_z: 13.55, -62.41, 997.96 mg Lin_ax, Lin_ay, Lin_az: 44.56, 334.93, 23.04 mg rate = 24969.78 Hz
x y z : 58, 272, 1020 mg -2, 0, 70 o/s -42, -46, -16 mG 331, -3, 0 ypr ax = -81.54 ay = -174.32 az = 1027.95 mg gx = -8.19 gy = -1.12 gz = -53.87 deg/s mx = -26 my = -9 mz = -62 mG q0 = 0.98 qx = -0.02 qy = -0.02 qz = -0.19 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 338.70, -3.14, -1.53 Grav_x, Grav_y, Grav_z: 26.71, -54.79, 998.14 mg Lin_ax, Lin_ay, Lin_az: -108.25, -119.53, 29.81 mg rate = 25058.47 Hz
x y z : -81, -174, 1027 mg -8, -1, -53 o/s -26, -9, -62 mG 338, -3, -1 ypr ax = -32.35 ay = -10.80 az = 989.07 mg gx = 0.49 gy = -0.05 gz = 1.79 deg/s mx = -58 my = 21 mz = -54 mG q0 = 0.99 qx = -0.02 qy = -0.03 qz = -0.13 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 345.72, -4.06, -1.72 Grav_x, Grav_y, Grav_z: 29.94, -70.87, 997.04 mg Lin_ax, Lin_ay, Lin_az: -62.29, 60.06, -7.96 mg rate = 25147.32 Hz
x y z : -32, -10, 989 mg 0, 0, 1 o/s -58, 21, -54 mG 345, -4, -1 ypr ax = -19.29 ay = 8.18 az = 995.61 mg gx = -0.05 gy = 0.12 gz = -1.88 deg/s mx = -55 my = 22 mz = -41 mG q0 = 0.99 qx = -0.03 qy = -0.03 qz = -0.15 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 342.70, -4.27, -2.68 Grav_x, Grav_y, Grav_z: 46.66, -74.43, 996.13 mg Lin_ax, Lin_ay, Lin_az: -65.95, 82.61, -0.53 mg rate = 25316.27 Hz
x y z : -19, 8, 995 mg 0, 0, -1 o/s -55, 22, -41 mG 342, -4, -2 ypr ax = -7.51 ay = 10.31 az = 992.25 mg gx = 0.19 gy = 0.18 gz = -0.10 deg/s mx = -29 my = 22 mz = -25 mG q0 = 0.98 qx = -0.03 qy = -0.03 qz = -0.17 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 340.52, -4.24, -3.19 Grav_x, Grav_y, Grav_z: 55.56, -73.89, 995.72 mg Lin_ax, Lin_ay, Lin_az: -63.06, 84.20, -3.47 mg rate = 25437.74 Hz
x y z : -7, 10, 992 mg 0, 0, 0 o/s -29, 22, -25 mG 340, -4, -3 ypr ax = 89.72 ay = 19.47 az = 1062.68 mg gx = -9.94 gy = -2.55 gz = -48.47 deg/s mx = -6 my = 40 mz = -12 mG q0 = 0.99 qx = -0.04 qy = -0.01 qz = -0.14 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 344.50, -2.34, -4.67 Grav_x, Grav_y, Grav_z: 81.33, -40.77, 995.85 mg Lin_ax, Lin_ay, Lin_az: 8.39, 60.24, 66.83 mg rate = 25083.33 Hz
x y z : 89, 19, 1062 mg -9, -2, -48 o/s -6, 40, -12 mG 344, -2, -4 ypr ax = -320.56 ay = -130.19 az = 869.93 mg gx = 9.10 gy = 9.52 gz = 35.00 deg/s mx = -16 my = 54 mz = 8 mG q0 = 1.00 qx = -0.02 qy = -0.02 qz = -0.07 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 352.77, -2.76, -2.66 Grav_x, Grav_y, Grav_z: 46.40, -48.08, 997.77 mg Lin_ax, Lin_ay, Lin_az: -366.95, -82.11, -127.83 mg rate = 25107.07 Hz
x y z : -320, -130, 869 mg 9, 9, 34 o/s -16, 54, 8 mG 352, -2, -2 ypr ax = 39.49 ay = 119.75 az = 1056.58 mg gx = -15.62 gy = 1.25 gz = 18.19 deg/s mx = -68 my = 15 mz = 16 mG q0 = 0.97 qx = -0.04 qy = -0.02 qz = -0.22 Gyro temperature is 29.1 degrees C Yaw, Pitch, Roll: 335.43, -3.75, -4.06 Grav_x, Grav_y, Grav_z: 70.58, -65.33, 995.36 mg Lin_ax, Lin_ay, Lin_az: -31.09, 185.09, 61.22 mg rate = 25129.30 Hz
x y z : 39, 119, 1056 mg -15, 1, 18 o/s -68, 15, 16 mG 335, -3, -4 ypr
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thanks a lot for the help and input, I'm still new to using MPU-9250, so still have to ask a lot of the experts.