Calibration Model: Difference between revisions
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(Created page with "The STorM32 controller implements a relatively simple calibration model for the accelerometers and gyros. === Accelerometer === Each axis is converted as follows: :a = (a_...") |
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Each axis is converted as follows: | Each axis is converted as follows: | ||
:a = (a_meas - a_zero) * a_scale - a_offset | :a = (a_meas - a_zero) * a_scale - a_offset | ||
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Each axis is converted as follows: | Each axis is converted as follows: | ||
:g = g_meas - g_zero | :g = g_meas - g_zero | ||
Revision as of 10:39, 26 August 2021
The STorM32 controller implements a relatively simple calibration model for the accelerometers and gyros.
Accelerometer
Each axis is converted as follows:
- a = (a_meas - a_zero) * a_scale - a_offset
a_meas: value obtained form the IMU
a_zero: 'Acc Zero' calibration constant determined by calibration procedure
a_scale: 'Acc Scale' calibration constant determined by calibration procedure
a_offset: offset entered in the GUI ("Pitch Offset" or "Roll Offset" or "Yaw Offset")
Gyro
Each axis is converted as follows:
- g = g_meas - g_zero
g_meas: value obtained form the IMU
g_zero: bias determined during gyro calibration at startup, or 'Gyro Zero' calibration constant determined by calibration procedure