ImuCalibration - Revision history

Openuas: /* How It Works */

2023-03-26T18:50:53Z

How It Works

← Older revision		Revision as of 12:50, 26 March 2023
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	[[Image:calibAccel.png\|240px]]		[[Image:calibAccel.png\|240px]]

	But before any calibration it is of utmost importance the signs and the axis of your sensors are correct!. Therefore make sure and adjust where needed the axis signs of your IMU are correct. To do so, the steps outline in "Finding and Checking Signs" are needed first.		'''But before any calibration it is of utmost importance the signs and the axis of your sensors are correct!'''. Therefore make sure and adjust where needed the axis signs of your IMU are correct. To do so, the steps outline in "Finding and Checking Signs" are needed first.

	== Finding and Checking Signs ==		== Finding and Checking Signs ==

Openuas: bit better order of steps and clarification

2023-03-26T18:50:11Z

bit better order of steps and clarification

Show changes

Openuas: /* Calibrating for Current */

2018-04-18T16:18:26Z

Calibrating for Current

← Older revision		Revision as of 10:18, 18 April 2018
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	# Load the [http://docs.paparazziuav.org/latest/module__send_imu_mag_current.html send_imu_mag_current.xml] [[Modules\|module]].		# Load the [http://docs.paparazziuav.org/latest/module__send_imu_mag_current.html send_imu_mag_current.xml] [[Modules\|module]].
	# Start the '''send_imu_mag_current''' module via settings [[Image:Send_imu_mag_current.png\|500px\|right\|Start the module for magneto current calibration]]		# Start the '''send_imu_mag_current''' module via settings [[Image:Send_imu_mag_current.png\|500px\|right\|Start the module for magneto current calibration]]
	# Put your aircraft on the ground and hold it steady		# Put your aircraft on the ground and make very sure to hold it steady, movement will mess up the calibration
	# Slowly ramp up the throttle		# Slowly ramp up the throttle
	# Stop the server		# Stop the server

	Now the log data is written to log file and we need to do something with it		Now the log data is written to log file and we need to do something with it

Podhrmic: highlit important sentence

2017-02-23T23:58:40Z

highlit important sentence

← Older revision		Revision as of 17:58, 23 February 2017
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	# on the left side		# on the left side

	Please note that we talk about the '''IMU axes''' here, and '''not''' the '''airframe axes'''.<br>So if you have your IMU mounted under a specific angle in your aircraft; make very sure you align the axis of the IMU and '''not''' the '''aircraft axes''' with earth's gravity. Also for the accelerometer calibration the IMU can, but does not need to be mounted inside the airframe. Only the calibration of a magnetometer must be performed while in your aircraft.		Please note that we talk about the '''IMU axes''' here, and '''not''' the '''airframe axes'''.<br>So if you have your IMU mounted under a specific angle in your aircraft; make very sure you align the axis of the IMU and '''not''' the '''aircraft axes''' with earth's gravity. Also for the accelerometer calibration the '''IMU can, but does not need to be mounted inside the airframe. Only the calibration of a magnetometer must be performed while in your aircraft.'''

	You can also take some measurements banking 45 degrees.<br>Try to get a homogeneous distribution of your measurements. It is better to let the aircraft rest while measuring an axis to avoid inaccuracies from shaking the IMU in your hand.		You can also take some measurements banking 45 degrees.<br>Try to get a homogeneous distribution of your measurements. It is better to let the aircraft rest while measuring an axis to avoid inaccuracies from shaking the IMU in your hand.

Flixr: /* Calibrating for Current */ was outdated, you have to start the module, not switch the telemetry mode

2015-09-12T16:13:57Z

Calibrating for Current: was outdated, you have to start the module, not switch the telemetry mode

← Older revision		Revision as of 10:13, 12 September 2015
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	'''Steps:'''		'''Steps:'''
	# Set up a current sensor in Paparazzi, or define MILLIAMP_AT_FULL_THROTTLE in your airframe file to enable a current estimation.		# Set up a current sensor in Paparazzi, or define MILLIAMP_AT_FULL_THROTTLE in your airframe file to enable a current estimation.
	# '''~~Switch to''' telemetry message "'''mag_current_calibration~~'''" [[Image:~~MagCurrentCalibrationb_message~~.~~jpg~~\|500px\|right\|~~Set~~ the ~~message~~ for magneto current calibration]]		# Load the [http://docs.paparazziuav.org/latest/module__send_imu_mag_current.html send_imu_mag_current.xml] [[Modules\|module]].
			# Start the '''send_imu_mag_current''' module via settings [[Image:Send_imu_mag_current.png\|500px\|right\|Start the module for magneto current calibration]]
	# Put your aircraft on the ground and hold it steady		# Put your aircraft on the ground and hold it steady
	# Slowly ramp up the throttle		# Slowly ramp up the throttle
	# Stop the server		# Stop the server

	Now the log data is written to log file and we need to do ~~someting~~ with it		Now the log data is written to log file and we need to do something with it

	Open a terminal and just run the script by entering:		Open a terminal and just run the script by entering:

Flixr: /* Magnetometer: */

2015-07-25T17:36:46Z

Magnetometer:

← Older revision		Revision as of 11:36, 25 July 2015
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	*When pitching the IMU up, the magnetic vector is aligning with x, so x should increase and z should increase towards zero.		*When pitching the IMU up, the magnetic vector is aligning with x, so x should increase and z should increase towards zero.
	*If yawing your IMU to the left, the magnetic vector is aligning with y, so y should be positive, x should decrease to zero and z stay negative.		*If yawing your IMU to the left, the magnetic vector is aligning with y, so y should be positive, x should decrease to zero and z stay negative.


			This also means that after calibration, your mag should report the same values as your [[Subsystem/ahrs#Local_Magnetic_Field\|normalized local magnetic field]] when placed horizontally and pointing north.

	===Gyrometer:===		===Gyrometer:===

IHaveADrone: /* Calibrating for Current */

2014-08-06T15:49:25Z

Calibrating for Current

← Older revision		Revision as of 09:49, 6 August 2014
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	Add the resulting output values from this script to the airframe file in the section IMU, for ''example'':		Add the resulting output values from this script to the airframe file in the section IMU, for ''example'':
			{{Box Code\|conf/airframes/myplane.xml\|
	<source lang="xml">		<source lang="xml">
	<section name="IMU" prefix="IMU_">		<section name="IMU" prefix="IMU_">
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	</section>		</section>
	</source>		</source>
			}}

	Re-compile and upload your airframe again.		Re-compile and upload your airframe again.

IHaveADrone: /* Calibrating the Accelerometers */

2014-08-06T15:48:28Z

Calibrating the Accelerometers

← Older revision		Revision as of 09:48, 6 August 2014
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	Add the resulting output values from this script to the airframe file in the section IMU, for ''example'':		Add the resulting output values from this script to the airframe file in the section IMU, for ''example'':
			{{Box Code\|conf/airframes/myplane.xml\|
	<source lang="xml">		<source lang="xml">
	<section name="IMU" prefix="IMU_">		<section name="IMU" prefix="IMU_">
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	</section>		</section>
	</source>		</source>
			}}

	=== Calibrating the Magnetometer ===		=== Calibrating the Magnetometer ===

IHaveADrone: /* Calibrating the Accelerometers */ added example output

2014-08-06T14:50:20Z

Calibrating the Accelerometers: added example output

← Older revision		Revision as of 08:50, 6 August 2014
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	Where YY_MM_DD__hh_mm_ss.data is the name of the log data file that was just generated.		Where YY_MM_DD__hh_mm_ss.data is the name of the log data file that was just generated.


			Add the resulting output values from this script to the airframe file in the section IMU, for ''example'':
			<source lang="xml">
			<section name="IMU" prefix="IMU_">
			...
			<define name="ACCEL_X_NEUTRAL" value="46"/>
			<define name="ACCEL_Y_NEUTRAL" value="12"/>
			<define name="ACCEL_Z_NEUTRAL" value="175"/>
			<define name="ACCEL_X_SENS" value="4.90862760829" integer="16"/>
			<define name="ACCEL_Y_SENS" value="4.9043976463" integer="16"/>
			<define name="ACCEL_Z_SENS" value="4.82837916573" integer="16"/>
			...
			</section>
			</source>

	=== Calibrating the Magnetometer ===		=== Calibrating the Magnetometer ===

IHaveADrone: /* Calibrating for Current */ set code lang to xml

2014-08-06T13:17:19Z

Calibrating for Current: set code lang to xml

← Older revision		Revision as of 07:17, 6 August 2014
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	Add the resulting output values from this script to the airframe file in the section IMU, for ''example'':		Add the resulting output values from this script to the airframe file in the section IMU, for ''example'':
			<source lang="xml">
	~~...~~

	<section name="IMU" prefix="IMU_">		<section name="IMU" prefix="IMU_">
			...

	<define name= "MAG_X_CURRENT_COEF" value="0.0591913538739"/>		<define name= "MAG_X_CURRENT_COEF" value="0.0591913538739"/>
	<define name= "MAG_Y_CURRENT_COEF" value="-0.132912120794"/>		<define name= "MAG_Y_CURRENT_COEF" value="-0.132912120794"/>
	<define name= "MAG_Z_CURRENT_COEF" value="-0.0724604582039"/>		<define name= "MAG_Z_CURRENT_COEF" value="-0.0724604582039"/>
			...
	...		</section>
			</source>

	Re-compile and upload your airframe again.		Re-compile and upload your airframe again.