When running mpu_real with ESP32 and MPU6050, the pitch drifts from 0 (correct - in upright position) to 6 degrees in about half a second after starting, then the value stabalizes. Similar problem with Roll. When I delete the fusion with the pitchAccel like this:
The pitch value is correct. But i want the fusion to work...
I checked the acceleration offset values for x,y and z and changed them manually until
accelG.x = 0, accelG.y = 0 and accelG.z = 1. Now the pitch / roll values are correct when using the fusion with accelPitch and accelRoll. The gyro calibration seems to work fine.
Any idea why the acceleration calibration gives wrong offsets?
When running mpu_real with ESP32 and MPU6050, the pitch drifts from 0 (correct - in upright position) to 6 degrees in about half a second after starting, then the value stabalizes. Similar problem with Roll. When I delete the fusion with the pitchAccel like this:
//pitch = gyroPitch 0.95f + accelPitch 0.05f; pitch = gyroPitch;
The pitch value is correct. But i want the fusion to work...
I checked the acceleration offset values for x,y and z and changed them manually until accelG.x = 0, accelG.y = 0 and accelG.z = 1. Now the pitch / roll values are correct when using the fusion with accelPitch and accelRoll. The gyro calibration seems to work fine.
Any idea why the acceleration calibration gives wrong offsets?