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Add parameters for IMU orientation definition

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Oleg Kalachev
2025-12-26 06:29:19 +03:00
parent 0547ea548b
commit 13a7e67b92
14 changed files with 36 additions and 23 deletions
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docs/usage.md
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@@ -73,14 +73,6 @@ ICM20948 imu(SPI); // For ICM-20948
MPU6050 imu(Wire); // For MPU-6050
```
### Setup the IMU orientation
The IMU orientation is defined in `rotateIMU` function in the `imu.ino` file. Change it so it converts the IMU axes to the drone's axes correctly. **Drone axes are X forward, Y left, Z up**:
<img src="img/drone-axes.svg" width="200">
See various [IMU boards axes orientations table](https://github.com/okalachev/flixperiph/?tab=readme-ov-file#imu-axes-orientation) to help you set up the correct orientation.
### Connect using QGroundControl
QGroundControl is a ground control station software that can be used to monitor and control the drone.
@@ -104,11 +96,35 @@ To access the console using QGroundControl:
1. Connect to the drone using QGroundControl app.
2. Go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*.
<img src="img/cli.png" width="400">
<img src="img/cli.png" width="400">
> [!TIP]
> Use `help` command to see the list of available commands.
### Access parameters
The drone is configured using parameters. To access and modify them, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Parameters*:
<img src="img/parameters.png" width="400">
### Define IMU orientation
Use parameters, to define the IMU board axes orientation relative to the drone's axes: `IMU_ROT_ROLL`, `IMU_ROT_PITCH`, and `IMU_ROT_YAW`.
The drone has *X* axis pointing forward, *Y* axis pointing left, and *Z* axis pointing up, and the supported IMU boards have *X* axis pointing to the pins side and *Z* axis pointing up from the side with the components:
<img src="img/imu-axes.png" width="200">
Use the following table to set the parameters for common IMU orientations:
|Orientation|Parameters|Orientation|Parameters|
|:-:|-|-|-|
|<img src="img/imu-rot-1.png" width="200">|`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 0 |<img src="img/imu-rot-5.png" width="200">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 0|
|<img src="img/imu-rot-2.png" width="200">|`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 1.571|<img src="img/imu-rot-6.png" width="200">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = -1.571|
|<img src="img/imu-rot-3.png" width="200">|`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 3.142|<img src="img/imu-rot-7.png" width="200">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 3.142|
|<img src="img/imu-rot-4.png" width="200"><br>☑️ **Default**|<br>`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = -1.571|<img src="img/imu-rot-8.png" width="200">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 1.571|
### Calibrate accelerometer
Before flight you need to calibrate the accelerometer:
@@ -221,10 +237,6 @@ In this mode, the pilot inputs are ignored (except the mode switch, if configure
If the pilot moves the control sticks, the drone will switch back to *STAB* mode.
## Adjusting parameters
You can adjust some of the drone's parameters (include PID coefficients) in QGroundControl. In order to do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Parameters*.
<img src="img/parameters.png" width="400">
## Flight log