DIMU Error in Calibration Without Temperature Compensation
Posted: Tue Jan 27, 2015 10:03 am
hello,
I am doing the calibration without Temperature, and i have done as the steps follows:
http://autoquad.org/wiki/wiki/configuri ... pensation/
but not all parameters have value when running the step5(sim3 -gyo -acc), The value start like this, and the parametes whose value is 0.00000000 will always be zero, what's wrong with my work? could anybody help me?
#define DEFAULT_IMU_GYO_SCAL_X +1.000000000000 // 0.000000010000 +1.000000000000
#define DEFAULT_IMU_GYO_SCAL_Y +1.000000000000 // 0.000000010000 +1.000000000000
#define DEFAULT_IMU_GYO_SCAL_Z +1.000000000000 // 0.000000010000 +1.000000000000
#define DEFAULT_IMU_GYO_ALGN_XY +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_GYO_ALGN_XZ +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_GYO_ALGN_YX +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_GYO_ALGN_YZ +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_GYO_ALGN_ZX +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_GYO_ALGN_ZY +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_ACC_BIAS_X +0.071630246937 // 0.000000010000 +0.071630246937
#define DEFAULT_IMU_ACC_BIAS_Y -0.046174734831 // 0.000000010000 -0.046174734831
#define DEFAULT_IMU_ACC_BIAS_Z -0.199045121670 // 0.000000010000 -0.199045121670
#define DEFAULT_IMU_ACC_SCAL_X +1.000000000000 // 0.000000010000 +1.000000000000
#define DEFAULT_IMU_ACC_SCAL_Y +1.000000000000 // 0.000000010000 +1.000000000000
#define DEFAULT_IMU_ACC_SCAL_Z +1.000000000000 // 0.000000010000 +1.000000000000
#define DEFAULT_IMU_ACC_ALGN_XY +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_ACC_ALGN_XZ +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_ACC_ALGN_YX +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_ACC_ALGN_YZ +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_ACC_ALGN_ZX +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_ACC_ALGN_ZY +0.000000000000 // 0.000001000000 +0.000000000000
I am doing the calibration without Temperature, and i have done as the steps follows:
http://autoquad.org/wiki/wiki/configuri ... pensation/
but not all parameters have value when running the step5(sim3 -gyo -acc), The value start like this, and the parametes whose value is 0.00000000 will always be zero, what's wrong with my work? could anybody help me?
#define DEFAULT_IMU_GYO_SCAL_X +1.000000000000 // 0.000000010000 +1.000000000000
#define DEFAULT_IMU_GYO_SCAL_Y +1.000000000000 // 0.000000010000 +1.000000000000
#define DEFAULT_IMU_GYO_SCAL_Z +1.000000000000 // 0.000000010000 +1.000000000000
#define DEFAULT_IMU_GYO_ALGN_XY +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_GYO_ALGN_XZ +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_GYO_ALGN_YX +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_GYO_ALGN_YZ +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_GYO_ALGN_ZX +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_GYO_ALGN_ZY +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_ACC_BIAS_X +0.071630246937 // 0.000000010000 +0.071630246937
#define DEFAULT_IMU_ACC_BIAS_Y -0.046174734831 // 0.000000010000 -0.046174734831
#define DEFAULT_IMU_ACC_BIAS_Z -0.199045121670 // 0.000000010000 -0.199045121670
#define DEFAULT_IMU_ACC_SCAL_X +1.000000000000 // 0.000000010000 +1.000000000000
#define DEFAULT_IMU_ACC_SCAL_Y +1.000000000000 // 0.000000010000 +1.000000000000
#define DEFAULT_IMU_ACC_SCAL_Z +1.000000000000 // 0.000000010000 +1.000000000000
#define DEFAULT_IMU_ACC_ALGN_XY +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_ACC_ALGN_XZ +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_ACC_ALGN_YX +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_ACC_ALGN_YZ +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_ACC_ALGN_ZX +0.000000000000 // 0.000001000000 +0.000000000000
#define DEFAULT_IMU_ACC_ALGN_ZY +0.000000000000 // 0.000001000000 +0.000000000000