raw data from telemetry IMU, processed or not ??

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raw data from telemetry IMU, processed or not ??

Postby fba » Wed Apr 29, 2015 1:55 pm

Hello,

Anyone knows how are the raw data from accelerometer and gyroscope on serial port? are they coming straight from the IMU or an output after the Kalman filter? I have checked the gyro output for 40 min and it isn´t drift from the neutral value on calibration process. I will like to use on a mathematics homework.

I supose is from raw because on

svn/ trunk/ Firmware/ rtos_pilot/ task_sensors_mpu6000.c

line 209
sensor_data.gyro_x_raw = 32768 + (long)mpu6000_raw_sensor_readings.gyro_x;

and on
http://gluonpilot.googlecode.com/svn-hi ... /mpu6000.c

mpu6000_raw_sensor_readings.gyro_x = spiGet16();

Best regards
Francisco
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Re: raw data from telemetry IMU, processed or not ??

Postby fba » Wed Apr 29, 2015 2:16 pm

May be I have answered myself. It come staright on from the IMU read out.
Francisco
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Re: raw data from telemetry IMU, processed or not ??

Postby Tom » Wed Apr 29, 2015 2:25 pm

Yes this is uncompensated
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