kriswiner
commented
3 years ago The first result shows your accel is broken, throw that sensor away, nothing can be done.
You need to properly calibrate the sensors and use NED convention for feeding the sensor data to the madgwick filter. This is done properly elsewhere, like here https://github.com/kriswiner/Dragonfly/tree/master/MPU9250Optimized, for example. The basic sketch is not appropriate for accurate heading estimation without modification.
On Wed, Dec 2, 2020 at 10:24 PM Minjung_You notifications@github.com wrote:
Hi. Thank you for your code.
Current, I'm tested with MPU9250BasicAHRS.ino. I'm using the MPU9250 and Arduino nano.
This is the first result when I execute the program.
/////////////////////////////////////////////////////////////////////////////////////////////// MPU9250: I AM 71. I should be 71 MPU9250 is online... x-axis self test: acceleration trim within : 0.0% of factory value y-axis self test: acceleration trim within : 0.0% of factory value z-axis self test: acceleration trim within : -1.0% of factory value x-axis self test: gyration trim within : 0.2% of factory value y-axis self test: gyration trim within : 0.6% of factory value z-axis self test: gyration trim within : 0.0% of factory value MPU9250 bias x y z 1999 1999 -178 mg -1.3 2.2 2.6 o/s MPU9250 initialized for active data mode.... AK8963: I AM 48. I should be 48 AK8963 initialized for active data mode.... X-Axis sensitivity adjustment value 1.19 Y-Axis sensitivity adjustment value 1.19 Z-Axis sensitivity adjustment value 1.15
///////////////////////////////////////////////////////////////////////////////////////////////
After above result, I could get the below results.
/////////////////////////////////////////////////////////////////////////////////////////////// ax = 1999.94 ay = 1999.94 az = 889.59 mg gx = -0.07 gy = -0.04 gz = 0.05 deg/s mx = -202 my = -474 mz = 542 mG q0 = 0.20 qx = 0.51 qy = 0.30 qz = 0.78 Yaw, Pitch, Roll: 108.94, -42.45, 65.86 rate = 429.79 Hz x y z 1999 1999 889 mg 0 0 0 o/s -202 -474 542 mG 108 -42 65 ypr rt: 429.79 Hz ax = 1999.94 ay = 1999.94 az = 895.02 mg gx = -0.04 gy = 0.00 gz = -0.13 deg/s mx = -214 my = -480 mz = 524 mG q0 = 0.20 qx = 0.51 qy = 0.30 qz = 0.78 Yaw, Pitch, Roll: 109.14, -42.43, 65.84 rate = 429.98 Hz x y z 1999 1999 895 mg 0 0 0 o/s -214 -480 524 mG 109 -42 65 ypr rt: 429.98 Hz ax = 1999.94 ay = 1999.94 az = 897.77 mg gx = 0.02 gy = -0.01 gz = 0.20 deg/s mx = -194 my = -469 mz = 531 mG q0 = 0.21 qx = 0.51 qy = 0.30 qz = 0.78 Yaw, Pitch, Roll: 108.52, -42.38, 65.89 rate = 428.38 Hz x y z 1999 1999 897 mg 0 0 0 o/s -194 -469 531 mG 108 -42 65 ypr rt: 428.38 Hz
///////////////////////////////////////////////////////////////////////////////////////////////
In these circumstance, I have several questions.
1.
when I move the sensor, accelerometer value never changed. So I used the different sensor, then this sensor is changing accelerometer value well. These two sensor have different factory value. Why these happen? How to set the sensor correctly? 2.
I want to get the correct yaw value. However, yaw value is not that correct. If I rotate the sensor clock wise, yaw value changed like this. "90 -> 83 -> 81 -> 83 -> 85 -> 87 -> ... ". Also, yaw value is affected by the pitch and roll value. How can I get the correct yaw value?
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YouMinJung
Hi. Thank you for your code.
Current, I'm tested with MPU9250BasicAHRS.ino. I'm using the MPU9250 and Arduino nano.
This is the first result when I execute the program. /////////////////////////////////////////////////////////////////////////////////////////////// MPU9250: I AM 71. I should be 71 MPU9250 is online... x-axis self test: acceleration trim within : 0.0% of factory value y-axis self test: acceleration trim within : 0.0% of factory value z-axis self test: acceleration trim within : -1.0% of factory value x-axis self test: gyration trim within : 0.2% of factory value y-axis self test: gyration trim within : 0.6% of factory value z-axis self test: gyration trim within : 0.0% of factory value MPU9250 bias x y z 1999 1999 -178 mg -1.3 2.2 2.6 o/s MPU9250 initialized for active data mode.... AK8963: I AM 48. I should be 48 AK8963 initialized for active data mode.... X-Axis sensitivity adjustment value 1.19 Y-Axis sensitivity adjustment value 1.19 Z-Axis sensitivity adjustment value 1.15 ///////////////////////////////////////////////////////////////////////////////////////////////
After above result, I could get the below results. /////////////////////////////////////////////////////////////////////////////////////////////// ax = 1999.94 ay = 1999.94 az = 889.59 mg gx = -0.07 gy = -0.04 gz = 0.05 deg/s mx = -202 my = -474 mz = 542 mG q0 = 0.20 qx = 0.51 qy = 0.30 qz = 0.78 Yaw, Pitch, Roll: 108.94, -42.45, 65.86 rate = 429.79 Hz x y z 1999 1999 889 mg 0 0 0 o/s -202 -474 542 mG 108 -42 65 ypr rt: 429.79 Hz ax = 1999.94 ay = 1999.94 az = 895.02 mg gx = -0.04 gy = 0.00 gz = -0.13 deg/s mx = -214 my = -480 mz = 524 mG q0 = 0.20 qx = 0.51 qy = 0.30 qz = 0.78 Yaw, Pitch, Roll: 109.14, -42.43, 65.84 rate = 429.98 Hz x y z 1999 1999 895 mg 0 0 0 o/s -214 -480 524 mG 109 -42 65 ypr rt: 429.98 Hz ax = 1999.94 ay = 1999.94 az = 897.77 mg gx = 0.02 gy = -0.01 gz = 0.20 deg/s mx = -194 my = -469 mz = 531 mG q0 = 0.21 qx = 0.51 qy = 0.30 qz = 0.78 Yaw, Pitch, Roll: 108.52, -42.38, 65.89 rate = 428.38 Hz x y z 1999 1999 897 mg 0 0 0 o/s -194 -469 531 mG 108 -42 65 ypr rt: 428.38 Hz ///////////////////////////////////////////////////////////////////////////////////////////////
In these circumstance, I have several questions.
when I move the sensor, accelerometer value never changed. So I used the different sensor, then this sensor is changing accelerometer value well. These two sensor have different factory value. Why these happen? How to set the sensor correctly?
I want to get the correct yaw value. However, yaw value is not that correct. If I rotate the sensor clock wise, yaw value changed like this. "90 -> 83 -> 81 -> 83 -> 85 -> 87 -> ... ". Also, yaw value is affected by the pitch and roll value. How can I get the correct yaw value?