Accurate yaw for A1 - Githubissues

unitreerobotics / unitree_legged_sdk

SDK tools for control robots.

BSD 3-Clause "New" or "Revised" License

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Accurate yaw for A1 #38

Closed pab47 closed 2 years ago

pab47 commented 2 years ago

The yaw angle on A1 drifts when the robot is standing still. This could be fixed using magnetometer values. By any chance the IMU on-board the A1 have a magnetometer? If yes, can you provide magnetometer readings in the SDK?

TrivasZhang commented 2 years ago

We use 6-DOF imu rather than 9-DOF. The motors in trunk will has much interference to magnetometer. So the yaw drifts.