If you are performing fusion on the host, then host processor speed is clearly an issue. You should be working at >1 kHz fusion rates to get anything sensible.
The accel offset hols the offset biases that you calculate during the accel calibration. I don;t use them because of the temperature compensation bit, which has given me unstable results.
I wouldn;t worry about fine gain or anything else.
The yaw, pitch, and roll from a well-calibrated MPU9250 is absolute wrt true North and the floor. You can always add angles to these to get whatever result you want.
On Tue, Aug 22, 2017 at 5:48 PM, afnan wrote:
Hi, Thank you for giving us such great code to ease our lives. I have a few questions for MPU9250 i hope you can help me make my concept clear using NodeMCU 160 MHz
- Why is rate and processor speed critical other than battery usage?
- In your code https://github.com/kriswiner/ MPU9250/blob/master/MPU9250_MS5637_AHRS_t3.ino https://github.com/kriswiner/MPU9250/blob/master/MPU9250_MS5637_AHRS_t3.ino how do you calculate values for following and how to use them? /#define X_FINE_GAIN 0x03 // [7:0] fine gain #define Y_FINE_GAIN 0x04 #define Z_FINE_GAIN 0x05 #define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer #define XA_OFFSET_L_TC 0x07 #define YA_OFFSET_H 0x08 #define YA_OFFSET_L_TC 0x09 #define ZA_OFFSET_H 0x0A #define ZA_OFFSET_L_TC 0x0B /
- I want to implement a button which resets the sensor on which ever angle it is and start from zero. Just like tare button in weighing machines. Would following logic work or is there anything better than this?
GET CURRENT VALUES OF YAW,PITCH,ROLL IF VALUES < 0 ADD TO FUTURE VALUES ELSE SUBTRACT FROM FUTURE VALUES
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