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yxw027 / sf9domahrs

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Bank angle will level off in continued turn #2

Open GoogleCodeExporter opened 9 years ago

GoogleCodeExporter commented 9 years ago 
What steps will reproduce the problem?
1. In flight, pitch and yaw (from magnetometer) work just fine.
2. Roll axis will indicate bank angle when changing bank from level fast
and then return to 0 deg bank angle in a continued turn
3. Roll axis will stay at 0 deg bank angle when changing bank angle slowly

What is the expected output? What do you see instead?
Bank angle should be steady in a continued turn (at least short term). In
the DCM part of the code there is a weighting of the accelerometer data. I
don't understand yet why the gyro erection code still updates in a turn.
Could there a mechnism (heading change by magnetometer, difference of
vertical g force from 1g) that could prevent this behaviour. In the ArduImu
as far as I understand GPS data is used to determine this.

So far, this IMU is not usable in an aircraft.

What version of the product are you using? On what operating system?
latest

Please provide any additional information below.

Original issue reported on code.google.com by i...@sfg-nordholz.de on 12 Mar 2010 at 9:02

GoogleCodeExporter commented 9 years ago 
Found this post: 
http://diydrones.com/profiles/blogs/razor-9dof-hp-filter-removal

Should have checked the schematic first. I didn't think that the high pass 
filter was
used in the razor board. Who needs the high pass filter on a board that is to 
be used
for DCM or EKF (well, maybe not with a 168/328)?

Removed the filter and I will try it on a flight tomorrow and post the results.

Original comment by i...@sfg-nordholz.de on 19 Mar 2010 at 7:26

GoogleCodeExporter commented 9 years ago 
Did this work for you?

Original comment by logan.gr...@gmail.com on 12 Sep 2010 at 1:05

GoogleCodeExporter commented 9 years ago 
hi，all:
      I had bought the 9 Degrees of Freedom-Razor IMU-AHRS(ITG-3200,HMC5843,ADXL345) and FTDI Basic(Arduino Compatible).
      My operating system: window xp sp3.
      My questions:
               1,Whether SF9DOF_AHRS_1_1 is suitable for my board? if not,is there any other interchangeble one that works well on my board?
               2,What kind of coordinate system did you use in the SF9DOF_AHRS_1_1?

Original comment by 168liuyu...@gmail.com on 12 Jul 2011 at 8:36