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Rotate IMU data to support standard axes orientation in new FlixPeriph

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Oleg Kalachev
2024-12-11 06:17:37 +03:00
parent fcb426a16f
commit 77effa5577
5 changed files with 93 additions and 88 deletions
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README.md
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@@ -135,13 +135,13 @@ Complete diagram is Work-in-Progress.
### IMU placement
Required IMU orientation on the drone is **FLU** (Forward, Left, Up)⁷:
Default IMU orientation in the code is **LFD** (Left-Forward-Down):
<img src="docs/img/flu.svg" width=400 alt="GY-91 axis">
<img src="docs/img/gy91-lfd.svg" width=400 alt="GY-91 axes">
In case of using **FRD** orientation (Forward, Right, Down), use [the code for rotation](https://gist.github.com/okalachev/713db47e31bce643dbbc9539d166ce98).
In case of using other IMU orientation, modify the `rotateIMU` function in the `imu.ino` file.
*⁷ — This X/Y/Z IMU axis orientation is used in the Flix IMU library, internal accel/gyro/mag axes differ.*
See [FlixPeriph documentation](https://github.com/okalachev/flixperiph?tab=readme-ov-file#imu-axes-orientation) to learn axis orientation of other IMU boards.
## Version 0