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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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docs/troubleshooting.md
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@@ -21,6 +21,7 @@ Do the following:
* **Check the IMU data**. Perform `imu` command, check raw accelerometer and gyro output. The output should change as you move the drone.
* **Calibrate the accelerometer.** if is wasn't done before. Perform `ca` command and put the results to `imu.ino` file.
* **Check the attitude estimation**. Connect to the drone using QGroundControl. Rotate the drone in different orientations and check if the attitude estimation shown in QGroundControl is correct.
* **Check the IMU orientation is set correctly**. If the attitude estimation is rotated, make sure `rotateIMU` function is defined correctly in `imu.ino` file.
* **Check the motors**. Perform the following commands using Serial Monitor:
* `mfr` — should rotate front right motor (counter-clockwise).
* `mfl` — should rotate front left motor (clockwise).