offset increasing

Question

offset increasing

yousefkhaled1750 opened this issue 4 years ago · 3 comments

Hello mr kris,Thank you for your great effort and dedication. Your code has really helped me a lot.
I tested your code using MPU6050 sensor and an arduino uno board it works fine while i keep rotating the sensor but when I stop moving the sensor the values of yaw, pitch and roll angles increase by time. So the offset increases and affects the future outputs.
Please, do you have any idea what am i doing wrong?
Thanks in advance

Answer 1 · 2020-10-09T16:11:33.000Z

Well, the MPU6050 can't really be used for heading estimation because there is no magnetometer to compensate for gyro drift. So I would expect you should get good estimation of pitch and roll (if your sensor is properly calibrated) but heading will drift at ~several degrees per minute or more).

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On Fri, Oct 9, 2020 at 7:04 AM yousefjoe175 ***@***.***> wrote: Hello mr kris,Thank you for your great effort and dedication. Your code has really helped me a lot. I tested your code using MPU6050 sensor and an arduino uno board it works fine while i keep rotating the sensor but when I stop moving the sensor the values of yaw, pitch and roll angles increase by time. So the offset increases and affects the future outputs. Please, do you have any idea what am i doing wrong? Thanks in advance — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#48>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ABTDLKXAQLEYUKIDJV6HT7LSJ4J6RANCNFSM4SKD34EA> .

Answer 2 · 2020-10-09T18:15:36.000Z

But we can't use the magnetometer due to the frequent change in the magnetic field in the environment we will put the sensor in. Beside all we need is just yaw. So, do you have any suggestions about how we can solve this issue?

Answer 3 · 2020-10-09T18:20:59.000Z

Can't get accurate yaw without a magnetometer, at least not for more than a few seconds. Try calibrating your sensors for at least good enough pitch and roll. We use 9 DoF solutions (i.e., with a magnetometer( even in harsh magnetic environments like small drone with four brushed motors. Works just fine. Maybe you need something like this <https://www.tindie.com/products/onehorse/ultimate-sensor-fusion-solution-mpu9250/> or maybe even this <https://www.tindie.com/products/onehorse/max32660-motion-co-processor/>.

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On Fri, Oct 9, 2020 at 11:15 AM yousefjoe175 ***@***.***> wrote: But we can't use the magnetometer due to the frequent change in the magnetic field in the environment we will put the sensor in. Beside all we need is just yaw. So, do you have any suggestions about how we can solve this issue? — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#48 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ABTDLKSPXASPWPH5A3S5ITTSJ5HNRANCNFSM4SKD34EA> .