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AHRS not updating correctly #12

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robertoostenveld opened this issue May 12, 2019 · 1 comment
Closed

AHRS not updating correctly #12

robertoostenveld opened this issue May 12, 2019 · 1 comment

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@robertoostenveld
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robertoostenveld commented May 12, 2019 •
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Applying my esp8266_imu_osc setup with a detailed stick-figure model, I realized that the AHRS is not correct. The yaw (rotation around around vertical axis, i.e. heading) does not update, and depending on the initial position when switching on, it is very different and not heading north.

I am not sure whether this is due to an error that I introduced in the changes that I made relative to the original code of kriswiner, or whether it is due to miscalibration.
@robertoostenveld
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It turned out to be due to improper calibration of the magnetometer, in combination with a missing minus sign for mz that is fixed with this pull request.

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