Calibration Model - Revision history

OlliW at 16:57, 3 February 2023

2023-02-03T16:57:48Z

← Older revision		Revision as of 18:57, 3 February 2023
Line 6:		Line 6:

	:<math>a = (a_{meas} - a_{zero}) \cdot a_{scale} - a_{ofs}</math>		:<math>a = (a_{meas} - a_{zero}) \cdot a_{scale} - a_{ofs}</math>


	<math>a_{meas}</math>: value obtained from the IMU		<math>a_{meas}</math>: value obtained from the IMU

OlliW at 16:57, 3 February 2023

2023-02-03T16:57:29Z

← Older revision		Revision as of 18:57, 3 February 2023
Line 5:		Line 5:
	Each axis is converted as follows:		Each axis is converted as follows:

	:a = (~~a_meas~~ - ~~a_zero~~) * a_scale - ~~a_offset~~		:<math>a = (a_{meas} - a_{zero}) \cdot a_{scale} - a_{ofs}</math>

			<math>a_{meas}</math>: value obtained from the IMU

	~~a_meas~~: ~~value obtained form the IMU~~		<math>a_{zero}</math>: 'Acc Zero' calibration constant determined by calibration procedure

	~~a_zero~~: 'Acc ~~Zero~~' calibration constant determined by calibration procedure		<math>a_{scale}</math>: 'Acc Scale' calibration constant determined by calibration procedure

	~~a_scale: 'Acc Scale' calibration constant determined by calibration procedure~~		<math>a_{ofs}</math>: offset entered in the GUI ({{GUIPARAM\|Pitch Offset}} or {{GUIPARAM\|Roll Offset}} or {{GUIPARAM\|Yaw Offset}})

	~~a_offset~~: offset entered in the GUI ({{GUIPARAM\|Pitch Offset}} or {{GUIPARAM\|Roll Offset}} or {{GUIPARAM\|Yaw Offset}})

	=== Gyro ===		=== Gyro ===
Line 20:		Line 19:
	Each axis is converted as follows:		Each axis is converted as follows:

	:g = ~~g_meas~~ - ~~g_zero~~		:<math>g = g_{meas} - g_{zero}</math>


	~~g_meas~~: value obtained ~~form~~ the IMU		<math>g_{meas}</math>: value obtained from the IMU

	~~g_zero~~: bias determined during gyro calibration at startup, or 'Gyro Zero' calibration constant determined by calibration procedure		<math>g_{zero}</math>: bias determined during gyro calibration at startup, or 'Gyro Zero' calibration constant determined by calibration procedure

	=== IMU Orientation ===		=== IMU Orientation ===

	The calibration constants are with respect to the IMU frame, i.e., applied before the rotation into the gimbal frame as specified by the IMU orientation settings. The offset value is however applied after this rotation, i.e., is with respect to the gimbal frame. This makes it possible to calibrate the IMU and then to mount it in any desired orientation without having to recalibrate (the offsets may have to be adjusted however, but these should normally not be needed).		The calibration constants are with respect to the IMU frame, i.e., applied before the rotation into the gimbal frame as specified by the IMU orientation settings. The offset value is however applied after this rotation, i.e., is with respect to the gimbal frame. This makes it possible to calibrate the IMU and then to mount it in any desired orientation without having to recalibrate (the offsets may have to be adjusted however, but these should normally not be needed).

OlliW at 09:47, 26 August 2021

2021-08-26T09:47:08Z

← Older revision		Revision as of 11:47, 26 August 2021
Line 29:		Line 29:
	=== IMU Orientation ===		=== IMU Orientation ===

	The calibration constants are with respect to the IMU frame, i.e., applied before the rotation into the gimbal frame as specified by the IMU orientation settings. The offset value is however applied after this rotation, i.e., is with respect to the gimbal frame. This makes it possible to calibrate the IMU and then to mount it in any desired orientation without having to recalibrate.		The calibration constants are with respect to the IMU frame, i.e., applied before the rotation into the gimbal frame as specified by the IMU orientation settings. The offset value is however applied after this rotation, i.e., is with respect to the gimbal frame. This makes it possible to calibrate the IMU and then to mount it in any desired orientation without having to recalibrate (the offsets may have to be adjusted however, but these should normally not be needed).

OlliW: /* IMU Orientation */

2021-08-26T09:46:10Z

IMU Orientation

← Older revision		Revision as of 11:46, 26 August 2021
Line 29:		Line 29:
	=== IMU Orientation ===		=== IMU Orientation ===

	~~Importantly, the~~ calibration constants are with respect to the IMU frame, i.e., applied before the rotation into the gimbal frame as specified by the IMU orientation settings. The offset value is however applied after this rotation, i.e., is with respect to the gimbal frame. This makes it possible to calibrate the IMU and then to mount it in any desired orientation without having to recalibrate.		The calibration constants are with respect to the IMU frame, i.e., applied before the rotation into the gimbal frame as specified by the IMU orientation settings. The offset value is however applied after this rotation, i.e., is with respect to the gimbal frame. This makes it possible to calibrate the IMU and then to mount it in any desired orientation without having to recalibrate.

OlliW at 09:45, 26 August 2021

2021-08-26T09:45:54Z

← Older revision		Revision as of 11:45, 26 August 2021
Line 1:		Line 1:
	The STorM32 controller implements a relatively simple calibration model for the accelerometers and gyros.		The STorM32 controller implements a relatively simple calibration model for the accelerometers and gyros.

	Importantly, the calibration constants are with respect to the IMU frame, i.e., applied before the rotation into the gimbal frame as specified by the IMU orientation settings. The offset value is however applied after this rotation, i.e., is with respect to the gimbal frame. This makes it possible to calibrate the IMU and then to mount it in any desired orientation without having to recalibrate.

	=== Accelerometer ===		=== Accelerometer ===
Line 28:		Line 26:

	g_zero: bias determined during gyro calibration at startup, or 'Gyro Zero' calibration constant determined by calibration procedure		g_zero: bias determined during gyro calibration at startup, or 'Gyro Zero' calibration constant determined by calibration procedure

			=== IMU Orientation ===

			Importantly, the calibration constants are with respect to the IMU frame, i.e., applied before the rotation into the gimbal frame as specified by the IMU orientation settings. The offset value is however applied after this rotation, i.e., is with respect to the gimbal frame. This makes it possible to calibrate the IMU and then to mount it in any desired orientation without having to recalibrate.

OlliW at 09:45, 26 August 2021

2021-08-26T09:45:19Z

← Older revision		Revision as of 11:45, 26 August 2021
Line 1:		Line 1:
	The STorM32 controller implements a relatively simple calibration model for the accelerometers and gyros.		The STorM32 controller implements a relatively simple calibration model for the accelerometers and gyros.

	Importantly, the calibration constants are with respect to the IMU frame, i.e., applied before the rotation into the gimbal frame as specified by the IMU orientation settings. The offset value is however applied after this rotation, i.e., is with respect to the gimbal frame.		Importantly, the calibration constants are with respect to the IMU frame, i.e., applied before the rotation into the gimbal frame as specified by the IMU orientation settings. The offset value is however applied after this rotation, i.e., is with respect to the gimbal frame. This makes it possible to calibrate the IMU and then to mount it in any desired orientation without having to recalibrate.

	=== Accelerometer ===		=== Accelerometer ===

OlliW at 09:44, 26 August 2021

2021-08-26T09:44:17Z

← Older revision		Revision as of 11:44, 26 August 2021
Line 1:		Line 1:
	The STorM32 controller implements a relatively simple calibration model for the accelerometers and gyros.		The STorM32 controller implements a relatively simple calibration model for the accelerometers and gyros.

			Importantly, the calibration constants are with respect to the IMU frame, i.e., applied before the rotation into the gimbal frame as specified by the IMU orientation settings. The offset value is however applied after this rotation, i.e., is with respect to the gimbal frame.

	=== Accelerometer ===		=== Accelerometer ===

OlliW at 09:39, 26 August 2021

2021-08-26T09:39:41Z

← Older revision		Revision as of 11:39, 26 August 2021
Line 4:		Line 4:

	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
Line 20:		Line 19:

	Each axis is converted as follows:		Each axis is converted as follows:


	:g = g_meas - g_zero		:g = g_meas - g_zero

OlliW: 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_..."

2021-08-26T09:39:18Z

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_..."

New page

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 ({{GUIPARAM|Pitch Offset}} or {{GUIPARAM|Roll Offset}} or {{GUIPARAM|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