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inertial_sensors [2018/07/21 15:10] seandepagnier created |
inertial_sensors [2022/10/05 19:18] seandepagnier |
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- | -- picture -- | + | mpu9250/mpu9255 – Many have large accelerometer bias. If it is too great, it |
- | mpu9250/mpu9255 – With yellow capacitor good | + | cannot be compensated and remain within the +- 2g range during operation. 8Further, many sensors have failed axes, failed sensors (no compass) or simply do not work at all. Verify all 9 axes especially if you do not have a reputable source. |
- | -- picture -- | + | icm20948 - My experience has these sensors are identical in performance to the mpu9255, but the quality control is much better. They are unlikely to have issues. |
- | mpu9250/mpu9255 - with orange capacitor accelerometer bias bad. | + | |
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- | === Calibration === | + | |
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- | For the autopilot to work correctly the inertial sensors must be calibrated. Typically this is just an offset or bias for each of the sensors. | + | |
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- | Many sensors have accurate accelerometer bias from factory, if not, calibration is needed. | + | |
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- | The gyroscopes continuously automatically update their bias, so calibration is not needed. | + | |
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- | The compass can change widely depending on where it is and what is around it so must be calibrated once mounted to the boat. | + |