Yaw value is oscillating and by full rotation don't show 360 degree #200
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This bug was previously fixed upstream in 066ca82. See https://cdn.sparkfun.com/assets/learn_tutorials/5/5/0/MPU-9250-Register-Map.pdf#page=7 for verification that this is correct
Product photos were updated on SparkFun.com, so they needed to be changed here too.
…ished work as is.
Changed WHO_AM_I_AK8963 from 0x49 to 0x00 - otherwise initialisation fails
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Did you calibrate your sensors? How?
…On Tue, Nov 7, 2017 at 4:13 AM, ahmadsajjad656 ***@***.***> wrote:
Hi every one! i am using this library for MPU9250. but my yaw value is
oscillating about 3 to 4 degree while the sensor is at rest. and by one
complete revolution of the sensor some time i am getting less than 360
degree. what is the problem. please help me. thanks in advance.
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#200
Commit Summary
- Hacking this into an Arduino library
- Mostly functional, but gross
- Got things separated and working
- Lil cleaner
- removed unnecessary commented out code
- Removed old comments
- Updated to match code
- -m
- Updated README
- added missing myIMUs
- Updated links to product image
- Merge branch 'master' of https://github.com/sparkfun/
MPU-9250_Breakout_Arduino_Library
<https://github.com/sparkfun/MPU-9250_Breakout_Arduino_Library>
- Added magnetometer calibration routine and cleaned up some things
- Added SPI capabilities. WARNING: Not reading from AK8963 over SPI
yet.
- Added a sketch to debug SPI. Seems to work as of this commit
- Added in working magnetometer config and WHOAMI reading. Saving
unfinished work as is.
File Changes
- *A* .gitattributes
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-0> (22)
- *A* .gitignore
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-1> (204)
- *D* MPU9250BasicAHRS.ino
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-2> (1034)
- *D* MPU9250BasicAHRS_t3.ino
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-3> (1045)
- *D* MPU9250_LPS25H_BasicAHRS_t3.ino
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-4> (1167)
- *D* MPU9250_MPL3115A2_BasicAHRS_t3.ino
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-5> (1493)
- *D* MPU9250_MS5611_BasicAHRS_t3.ino
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-6> (1214)
- *D* MPU9250_MS5637_AHRS_t3.ino
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-7> (1297)
- *M* README.md
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-8> (60)
- *D* STM32F401/MPU9250.h
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-9> (879)
- *D* STM32F401/Readme.md
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-10> (3)
- *D* STM32F401/main.cpp
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-11> (228)
- *A* examples/MPU9250BasicAHRS_I2C/MPU9250BasicAHRS_I2C.ino
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-12> (512)
- *A* examples/MPU9250BasicAHRS_SPI/MPU9250BasicAHRS_SPI.ino
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-13> (518)
- *A* examples/MPU9250_Debug/MPU9250_Debug.ino
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-14> (238)
- *A* keywords.txt
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-15> (168)
- *A* library.properties
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-16> (9)
- *D* quaternionFilters.ino
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-17> (194)
- *A* src/MPU9250.cpp
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-18> (975)
- *A* src/MPU9250.h
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-19> (295)
- *A* src/quaternionFilters.cpp
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-20> (234)
- *A* src/quaternionFilters.h
<https://github.com/kriswiner/MPU9250/pull/200/files#diff-21> (14)
Patch Links:
- https://github.com/kriswiner/MPU9250/pull/200.patch
- https://github.com/kriswiner/MPU9250/pull/200.diff
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thanks kriswiner for quick response, Actually I am using Sparkfun library having link https://github.com/sparkfun/SparkFun_MPU-9250_Breakout_Arduino_Library because your library's gives me the error "mbed.h No such file" while using example "MPU9250BasicAHRS" and other examples are not for MCU (Arduin Nano, Mega) . Sparkfun library is almost similar to your's. In this library they are using Mahony/medwick filter. the value of magnetometer is too much oscillating, I think this the reason behind yaw value oscillation. By the way I am new to IMU, so kindly help me either with your's library or with sparkfun to sort out this problem. thanks in advance |
- Changed magnetometer WAI register to 0x00 as per datasheet and pull request - Removed preprocessor logic to set up the defined MPU9250_ADDRESS, instead allowing the user to define that value as one of the two options MPU9250_ADDRESS_AD0 or MPU9250_ADDRESS_AD1
Hi everyone - apologies for the slow response. You are indeed correct about the register number. I have also made some additional improvements to the library. Thank you very much for bringing this problem to our attention!
Correct use of FS parameter
Don't enable SPI bus when SPI mode is disabled.
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Hi every one! i am using this library for MPU9250. but my yaw value is oscillating about 3 to 4 degree while the sensor is at rest. and by one complete revolution of the sensor i am getting less than 360 degree. what is the problem. please help me. thanks in advance.