search

larus-breeze / sw_sensor

Firmware for Larus sensor MK1 and MK2
3 stars 3 forks source link

Calibrate accelerometers and magnetometers after installation of the IMU. #37

Closed realtimepeople closed 1 year ago

realtimepeople commented 1 year ago

The observed offset and gain differences are around 2%. Therefore it will improve the system performance slightly if we would individually calibrate the accelerometers.

If we would calibrate the magnetometers at the same time before installation in the aircraft we could get an idea about the magnetic environment based on the intensity of the magnetic induction after installation.

With a simple 6 state calibration-procedure this can be done in one process semi-automatically using a manually triggered
calibration program within the sensor firmware.

MaxBaex commented 1 year ago

In case that the expensive xSense MTi1 IMU requires a calibration I would opt to reassess cheaper IMU sensor versions! The version 2 sensor hardware is equipped with mounting holes for sparkfun headers. I would suggest to experiment with the following breakout boards: https://www.sparkfun.com/products/15335 or https://www.sparkfun.com/products/19895

realtimepeople commented 1 year ago

The magnetic calibration system has been reworked and tested successfully. For the moment a calibration of the accelerometer appears to be superfluous.

-> DONE !