- Sat Feb 24, 2018 3:55 pm
#198476
I'm pretty new to micro-controllers and coding.
I'm trying to process the output from a Sparkfun MPU-9250 breakout with an Arduino (actually Elegoo) Uno R3 to control some servos to make a robot mimic the sensors movement. It's a simple 3 axis gimbal type of setup that just moves the yaw servo when the sensor yaws, the pitch servo when the sensor pitches, and the roll servo when the sensor rolls.
Using Sparkfun's library and example code, which calculates the AHRS values (yaw, pitch, roll), the pitch and roll were working perfectly, but the yaw output was all over the place and completely unusable. I had found the correct offset for my location like the Sparkfun hookup guide explained, and there was no active calibration going on that I know of.
I've done a ton of searching for solutions to this issue with this board/sensor and have come up empty. I read about Kris Winers work, which is what Sparkfun is basing their code and library off of, and he has a write up on mag calibration, which I thought was the issue, but it wasn't just copy/past code for the arduino, and I couldn't figure out how to use it. I contacted Sparkfun support and they found that their library/example code has some syntax errors and an address for the sensor was wrong, so they sent me updated code that they got working for them.
Using their new library/code, the sensor now did a 15 second figure-8 calibration on startup, but the problem still persists. Actually, now the pitch and roll aren't working as well as they were before and the movement is less smooth and a bit more sporadic. The yaw is still completely unusable and drifts all over the place while completely stationary. I've made a test rig to test each axis independently and while the pitch and roll mostly do what I expect, the yaw does not.
I'm either completely missing something, or the sensor is bad (while that's possible, I suspect the problem is me, not the board).
Here's the code Sparkfun gave me (note, this doesn't have any of my code for controlling servos, as I wanted to eliminate that as the potential problem):
Could it be that my sensor is too close to my PC? or some magnetic thing (I have headphones and speakers on my desk, but they're about 3 feet away)? Some other environmental factor? I'm considering buying an Adafruit BNO055, which has an on-board processor that does calibration and sensor fusion and outputs the AHRS values, which could solve my issues, unless it's an environmental problem. I'd love to get this sensor working though.
Thanks in advance for any help. -Spencer
I'm trying to process the output from a Sparkfun MPU-9250 breakout with an Arduino (actually Elegoo) Uno R3 to control some servos to make a robot mimic the sensors movement. It's a simple 3 axis gimbal type of setup that just moves the yaw servo when the sensor yaws, the pitch servo when the sensor pitches, and the roll servo when the sensor rolls.
Using Sparkfun's library and example code, which calculates the AHRS values (yaw, pitch, roll), the pitch and roll were working perfectly, but the yaw output was all over the place and completely unusable. I had found the correct offset for my location like the Sparkfun hookup guide explained, and there was no active calibration going on that I know of.
I've done a ton of searching for solutions to this issue with this board/sensor and have come up empty. I read about Kris Winers work, which is what Sparkfun is basing their code and library off of, and he has a write up on mag calibration, which I thought was the issue, but it wasn't just copy/past code for the arduino, and I couldn't figure out how to use it. I contacted Sparkfun support and they found that their library/example code has some syntax errors and an address for the sensor was wrong, so they sent me updated code that they got working for them.
Using their new library/code, the sensor now did a 15 second figure-8 calibration on startup, but the problem still persists. Actually, now the pitch and roll aren't working as well as they were before and the movement is less smooth and a bit more sporadic. The yaw is still completely unusable and drifts all over the place while completely stationary. I've made a test rig to test each axis independently and while the pitch and roll mostly do what I expect, the yaw does not.
I'm either completely missing something, or the sensor is bad (while that's possible, I suspect the problem is me, not the board).
Here's the code Sparkfun gave me (note, this doesn't have any of my code for controlling servos, as I wanted to eliminate that as the potential problem):
Code: Select all
And here is the output from the serial monitor. For this output, I performed the 15 second calibration, waving the arduino with sensor in a figure 8, then attached the sensor to the test gimbal, and left it completely stationary. You can see that while the pitch and roll drift by up to 10 degrees, the yaw is all over the place./* MPU9250 Basic Example Code
by: Kris Winer
date: April 1, 2014
license: Beerware - Use this code however you'd like. If you
find it useful you can buy me a beer some time.
Modified by Brent Wilkins July 19, 2016
Demonstrate basic MPU-9250 functionality including parameterizing the register
addresses, initializing the sensor, getting properly scaled accelerometer,
gyroscope, and magnetometer data out. Added display functions to allow display
to on breadboard monitor. Addition of 9 DoF sensor fusion using open source
Madgwick and Mahony filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini
and the Teensy 3.1.
SDA and SCL should have external pull-up resistors (to 3.3V).
10k resistors are on the EMSENSR-9250 breakout board.
Hardware setup:
MPU9250 Breakout --------- Arduino
VDD ---------------------- 3.3V
VDDI --------------------- 3.3V
SDA ----------------------- A4
SCL ----------------------- A5
GND ---------------------- GND
*/
#include "quaternionFilters.h"
#include "MPU9250.h"
#ifdef LCD
#include <Adafruit_GFX.h>
#include <Adafruit_PCD8544.h>
// Using NOKIA 5110 monochrome 84 x 48 pixel display
// pin 9 - Serial clock out (SCLK)
// pin 8 - Serial data out (DIN)
// pin 7 - Data/Command select (D/C)
// pin 5 - LCD chip select (CS)
// pin 6 - LCD reset (RST)
Adafruit_PCD8544 display = Adafruit_PCD8544(9, 8, 7, 5, 6);
#endif // LCD
#define AHRS true // Set to false for basic data read
#define SerialDebug true // Set to true to get Serial output for debugging
// Pin definitions
int intPin = 12; // These can be changed, 2 and 3 are the Arduinos ext int pins
int myLed = 13; // Set up pin 13 led for toggling
MPU9250 myIMU;
void setup()
{
Wire.begin();
// TWBR = 12; // 400 kbit/sec I2C speed
Serial.begin(38400);
// Set up the interrupt pin, its set as active high, push-pull
pinMode(intPin, INPUT);
digitalWrite(intPin, LOW);
pinMode(myLed, OUTPUT);
digitalWrite(myLed, HIGH);
#ifdef LCD
display.begin(); // Ini8ialize the display
display.setContrast(58); // Set the contrast
// Start device display with ID of sensor
display.clearDisplay();
display.setTextSize(2);
display.setCursor(0,0); display.print("MPU9250");
display.setTextSize(1);
display.setCursor(0, 20); display.print("9-DOF 16-bit");
display.setCursor(0, 30); display.print("motion sensor");
display.setCursor(20,40); display.print("60 ug LSB");
display.display();
delay(1000);
// Set up for data display
display.setTextSize(1); // Set text size to normal, 2 is twice normal etc.
display.setTextColor(BLACK); // Set pixel color; 1 on the monochrome screen
display.clearDisplay(); // clears the screen and buffer
#endif // LCD
// Read the WHO_AM_I register, this is a good test of communication
byte c = myIMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
Serial.print(F("MPU9250 I AM 0x"));
Serial.print(c, HEX);
Serial.print(F(" I should be 0x"));
Serial.println(0x71, HEX);
#ifdef LCD
display.setCursor(20,0); display.print("MPU9250");
display.setCursor(0,10); display.print("I AM");
display.setCursor(0,20); display.print(c, HEX);
display.setCursor(0,30); display.print("I Should Be");
display.setCursor(0,40); display.print(0x71, HEX);
display.display();
delay(1000);
#endif // LCD
if (c == 0x71) // WHO_AM_I should always be 0x71
{
Serial.println(F("MPU9250 is online..."));
// Start by performing self test and reporting values
myIMU.MPU9250SelfTest(myIMU.selfTest);
Serial.print(F("x-axis self test: acceleration trim within : "));
Serial.print(myIMU.selfTest[0],1); Serial.println("% of factory value");
Serial.print(F("y-axis self test: acceleration trim within : "));
Serial.print(myIMU.selfTest[1],1); Serial.println("% of factory value");
Serial.print(F("z-axis self test: acceleration trim within : "));
Serial.print(myIMU.selfTest[2],1); Serial.println("% of factory value");
Serial.print(F("x-axis self test: gyration trim within : "));
Serial.print(myIMU.selfTest[3],1); Serial.println("% of factory value");
Serial.print(F("y-axis self test: gyration trim within : "));
Serial.print(myIMU.selfTest[4],1); Serial.println("% of factory value");
Serial.print(F("z-axis self test: gyration trim within : "));
Serial.print(myIMU.selfTest[5],1); Serial.println("% of factory value");
// Calibrate gyro and accelerometers, load biases in bias registers
myIMU.calibrateMPU9250(myIMU.gyroBias, myIMU.accelBias);
#ifdef LCD
display.clearDisplay();
display.setCursor(0, 0); display.print("MPU9250 bias");
display.setCursor(0, 8); display.print(" x y z ");
display.setCursor(0, 16); display.print((int)(1000*myIMU.accelBias[0]));
display.setCursor(24, 16); display.print((int)(1000*myIMU.accelBias[1]));
display.setCursor(48, 16); display.print((int)(1000*myIMU.accelBias[2]));
display.setCursor(72, 16); display.print("mg");
display.setCursor(0, 24); display.print(myIMU.gyroBias[0], 1);
display.setCursor(24, 24); display.print(myIMU.gyroBias[1], 1);
display.setCursor(48, 24); display.print(myIMU.gyroBias[2], 1);
display.setCursor(66, 24); display.print("o/s");
display.display();
delay(1000);
#endif // LCD
myIMU.initMPU9250();
// Initialize device for active mode read of acclerometer, gyroscope, and
// temperature
Serial.println("MPU9250 initialized for active data mode....");
// Read the WHO_AM_I register of the magnetometer, this is a good test of
// communication
byte d = myIMU.readByte(AK8963_ADDRESS, WHO_AM_I_AK8963);
Serial.print("AK8963 ");
Serial.print("I AM 0x");
Serial.print(d, HEX);
Serial.print(" I should be 0x");
Serial.println(0xFF, HEX);
#ifdef LCD
display.clearDisplay();
display.setCursor(20,0); display.print("AK8963");
display.setCursor(0,10); display.print("I AM");
display.setCursor(0,20); display.print(d, HEX);
display.setCursor(0,30); display.print("I Should Be");
display.setCursor(0,40); display.print(0x48, HEX);
display.display();
delay(1000);
#endif // LCD
if (d != 0xFF)
{
// Communication failed, stop here
Serial.println(F("Communication failed, abort!"));
Serial.flush();
abort();
}
// Get magnetometer calibration from AK8963 ROM
myIMU.initAK8963(myIMU.factoryMagCalibration);
// Initialize device for active mode read of magnetometer
Serial.println("AK8963 initialized for active data mode....");
if (SerialDebug)
{
// Serial.println("Calibration values: ");
Serial.print("X-Axis factory sensitivity adjustment value ");
Serial.println(myIMU.factoryMagCalibration[0], 2);
Serial.print("Y-Axis factory sensitivity adjustment value ");
Serial.println(myIMU.factoryMagCalibration[1], 2);
Serial.print("Z-Axis factory sensitivity adjustment value ");
Serial.println(myIMU.factoryMagCalibration[2], 2);
}
#ifdef LCD
display.clearDisplay();
display.setCursor(20,0); display.print("AK8963");
display.setCursor(0,10); display.print("ASAX ");
display.setCursor(50,10); display.print(myIMU.factoryMagCalibration[0], 2);
display.setCursor(0,20); display.print("ASAY ");
display.setCursor(50,20); display.print(myIMU.factoryMagCalibration[1], 2);
display.setCursor(0,30); display.print("ASAZ ");
display.setCursor(50,30); display.print(myIMU.factoryMagCalibration[2], 2);
display.display();
delay(1000);
#endif // LCD
// Get sensor resolutions, only need to do this once
myIMU.getAres();
myIMU.getGres();
myIMU.getMres();
// The next call delays for 4 seconds, and then records about 15 seconds of
// data to calculate bias and scale.
myIMU.magCalMPU9250(myIMU.magBias, myIMU.magScale);
Serial.println("AK8963 mag biases (mG)");
Serial.println(myIMU.magBias[0]);
Serial.println(myIMU.magBias[1]);
Serial.println(myIMU.magBias[2]);
Serial.println("AK8963 mag scale (mG)");
Serial.println(myIMU.magScale[0]);
Serial.println(myIMU.magScale[1]);
Serial.println(myIMU.magScale[2]);
delay(2000); // Add delay to see results before serial spew of data
if(SerialDebug)
{
Serial.println("Magnetometer:");
Serial.print("X-Axis sensitivity adjustment value ");
Serial.println(myIMU.factoryMagCalibration[0], 2);
Serial.print("Y-Axis sensitivity adjustment value ");
Serial.println(myIMU.factoryMagCalibration[1], 2);
Serial.print("Z-Axis sensitivity adjustment value ");
Serial.println(myIMU.factoryMagCalibration[2], 2);
}
#ifdef LCD
display.clearDisplay();
display.setCursor(20,0); display.print("AK8963");
display.setCursor(0,10); display.print("ASAX "); display.setCursor(50,10);
display.print(myIMU.factoryMagCalibration[0], 2);
display.setCursor(0,20); display.print("ASAY "); display.setCursor(50,20);
display.print(myIMU.factoryMagCalibration[1], 2);
display.setCursor(0,30); display.print("ASAZ "); display.setCursor(50,30);
display.print(myIMU.factoryMagCalibration[2], 2);
display.display();
delay(1000);
#endif // LCD
} // if (c == 0x71)
else
{
Serial.print("Could not connect to MPU9250: 0x");
Serial.println(c, HEX);
// Communication failed, stop here
Serial.println(F("Communication failed, abort!"));
Serial.flush();
abort();
}
}
void loop()
{
// If intPin goes high, all data registers have new data
// On interrupt, check if data ready interrupt
if (myIMU.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)
{
myIMU.readAccelData(myIMU.accelCount); // Read the x/y/z adc values
// Now we'll calculate the accleration value into actual g's
// This depends on scale being set
myIMU.ax = (float)myIMU.accelCount[0] * myIMU.aRes; // - myIMU.accelBias[0];
myIMU.ay = (float)myIMU.accelCount[1] * myIMU.aRes; // - myIMU.accelBias[1];
myIMU.az = (float)myIMU.accelCount[2] * myIMU.aRes; // - myIMU.accelBias[2];
myIMU.readGyroData(myIMU.gyroCount); // Read the x/y/z adc values
// Calculate the gyro value into actual degrees per second
// This depends on scale being set
myIMU.gx = (float)myIMU.gyroCount[0] * myIMU.gRes;
myIMU.gy = (float)myIMU.gyroCount[1] * myIMU.gRes;
myIMU.gz = (float)myIMU.gyroCount[2] * myIMU.gRes;
myIMU.readMagData(myIMU.magCount); // Read the x/y/z adc values
// Calculate the magnetometer values in milliGauss
// Include factory calibration per data sheet and user environmental
// corrections
// Get actual magnetometer value, this depends on scale being set
myIMU.mx = (float)myIMU.magCount[0] * myIMU.mRes * myIMU.factoryMagCalibration[0] - myIMU.magBias[0];
myIMU.my = (float)myIMU.magCount[1] * myIMU.mRes * myIMU.factoryMagCalibration[1] - myIMU.magBias[1];
myIMU.mz = (float)myIMU.magCount[2] * myIMU.mRes * myIMU.factoryMagCalibration[2] - myIMU.magBias[2];
} // if (readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)
// Must be called before updating quaternions!
myIMU.updateTime();
// Sensors x (y)-axis of the accelerometer is aligned with the y (x)-axis of
// the magnetometer; the magnetometer z-axis (+ down) is opposite to z-axis
// (+ up) of accelerometer and gyro! We have to make some allowance for this
// orientationmismatch in feeding the output to the quaternion filter. For the
// MPU-9250, we have chosen a magnetic rotation that keeps the sensor forward
// along the x-axis just like in the LSM9DS0 sensor. This rotation can be
// modified to allow any convenient orientation convention. This is ok by
// aircraft orientation standards! Pass gyro rate as rad/s
MahonyQuaternionUpdate(myIMU.ax, myIMU.ay, myIMU.az, myIMU.gx * DEG_TO_RAD,
myIMU.gy * DEG_TO_RAD, myIMU.gz * DEG_TO_RAD, myIMU.my,
myIMU.mx, myIMU.mz, myIMU.deltat);
if (!AHRS)
{
myIMU.delt_t = millis() - myIMU.count;
if (myIMU.delt_t > 500)
{
if(SerialDebug)
{
// Print acceleration values in milligs!
Serial.print("X-acceleration: "); Serial.print(1000 * myIMU.ax);
Serial.print(" mg ");
Serial.print("Y-acceleration: "); Serial.print(1000 * myIMU.ay);
Serial.print(" mg ");
Serial.print("Z-acceleration: "); Serial.print(1000 * myIMU.az);
Serial.println(" mg ");
// Print gyro values in degree/sec
Serial.print("X-gyro rate: "); Serial.print(myIMU.gx, 3);
Serial.print(" degrees/sec ");
Serial.print("Y-gyro rate: "); Serial.print(myIMU.gy, 3);
Serial.print(" degrees/sec ");
Serial.print("Z-gyro rate: "); Serial.print(myIMU.gz, 3);
Serial.println(" degrees/sec");
// Print mag values in degree/sec
Serial.print("X-mag field: "); Serial.print(myIMU.mx);
Serial.print(" mG ");
Serial.print("Y-mag field: "); Serial.print(myIMU.my);
Serial.print(" mG ");
Serial.print("Z-mag field: "); Serial.print(myIMU.mz);
Serial.println(" mG");
myIMU.tempCount = myIMU.readTempData(); // Read the adc values
// Temperature in degrees Centigrade
myIMU.temperature = ((float) myIMU.tempCount) / 333.87 + 21.0;
// Print temperature in degrees Centigrade
Serial.print("Temperature is "); Serial.print(myIMU.temperature, 1);
Serial.println(" degrees C");
}
#ifdef LCD
display.clearDisplay();
display.setCursor(0, 0); display.print("MPU9250/AK8963");
display.setCursor(0, 8); display.print(" x y z ");
display.setCursor(0, 16); display.print((int)(1000 * myIMU.ax));
display.setCursor(24, 16); display.print((int)(1000 * myIMU.ay));
display.setCursor(48, 16); display.print((int)(1000 * myIMU.az));
display.setCursor(72, 16); display.print("mg");
display.setCursor(0, 24); display.print((int)(myIMU.gx));
display.setCursor(24, 24); display.print((int)(myIMU.gy));
display.setCursor(48, 24); display.print((int)(myIMU.gz));
display.setCursor(66, 24); display.print("o/s");
display.setCursor(0, 32); display.print((int)(myIMU.mx));
display.setCursor(24, 32); display.print((int)(myIMU.my));
display.setCursor(48, 32); display.print((int)(myIMU.mz));
display.setCursor(72, 32); display.print("mG");
display.setCursor(0, 40); display.print("Gyro T ");
display.setCursor(50, 40); display.print(myIMU.temperature, 1);
display.print(" C");
display.display();
#endif // LCD
myIMU.count = millis();
digitalWrite(myLed, !digitalRead(myLed)); // toggle led
} // if (myIMU.delt_t > 500)
} // if (!AHRS)
else
{
// Serial print and/or display at 0.5 s rate independent of data rates
myIMU.delt_t = millis() - myIMU.count;
// update LCD once per half-second independent of read rate
if (myIMU.delt_t > 500)
{
if(SerialDebug)
{
Serial.print("ax = "); Serial.print((int)1000 * myIMU.ax);
Serial.print(" ay = "); Serial.print((int)1000 * myIMU.ay);
Serial.print(" az = "); Serial.print((int)1000 * myIMU.az);
Serial.println(" mg");
Serial.print("gx = "); Serial.print(myIMU.gx, 2);
Serial.print(" gy = "); Serial.print(myIMU.gy, 2);
Serial.print(" gz = "); Serial.print(myIMU.gz, 2);
Serial.println(" deg/s");
Serial.print("mx = "); Serial.print((int)myIMU.mx);
Serial.print(" my = "); Serial.print((int)myIMU.my);
Serial.print(" mz = "); Serial.print((int)myIMU.mz);
Serial.println(" mG");
Serial.print("q0 = "); Serial.print(*getQ());
Serial.print(" qx = "); Serial.print(*(getQ() + 1));
Serial.print(" qy = "); Serial.print(*(getQ() + 2));
Serial.print(" qz = "); Serial.println(*(getQ() + 3));
}
// Define output variables from updated quaternion---these are Tait-Bryan
// angles, commonly used in aircraft orientation. In this coordinate system,
// the positive z-axis is down toward Earth. Yaw is the angle between Sensor
// x-axis and Earth magnetic North (or true North if corrected for local
// declination, looking down on the sensor positive yaw is counterclockwise.
// Pitch is angle between sensor x-axis and Earth ground plane, toward the
// Earth is positive, up toward the sky is negative. Roll is angle between
// sensor y-axis and Earth ground plane, y-axis up is positive roll. These
// arise from the definition of the homogeneous rotation matrix constructed
// from quaternions. Tait-Bryan angles as well as Euler angles are
// non-commutative; that is, the get the correct orientation the rotations
// must be applied in the correct order which for this configuration is yaw,
// pitch, and then roll.
// For more see
// http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
// which has additional links.
myIMU.yaw = atan2(2.0f * (*(getQ()+1) * *(getQ()+2) + *getQ()
* *(getQ()+3)), *getQ() * *getQ() + *(getQ()+1)
* *(getQ()+1) - *(getQ()+2) * *(getQ()+2) - *(getQ()+3)
* *(getQ()+3));
myIMU.pitch = -asin(2.0f * (*(getQ()+1) * *(getQ()+3) - *getQ()
* *(getQ()+2)));
myIMU.roll = atan2(2.0f * (*getQ() * *(getQ()+1) + *(getQ()+2)
* *(getQ()+3)), *getQ() * *getQ() - *(getQ()+1)
* *(getQ()+1) - *(getQ()+2) * *(getQ()+2) + *(getQ()+3)
* *(getQ()+3));
myIMU.pitch *= RAD_TO_DEG;
myIMU.yaw *= RAD_TO_DEG;
// Declination of SparkFun Electronics (40°05'26.6"N 105°11'05.9"W) is
// 8° 30' E ± 0° 21' (or 8.5°) on 2016-07-19
// - http://www.ngdc.noaa.gov/geomag-web/#declination
myIMU.yaw -= 8.5;
myIMU.roll *= RAD_TO_DEG;
if(SerialDebug)
{
Serial.print("Yaw, Pitch, Roll: ");
Serial.print(myIMU.yaw, 2);
Serial.print(", ");
Serial.print(myIMU.pitch, 2);
Serial.print(", ");
Serial.println(myIMU.roll, 2);
Serial.print("rate = ");
Serial.print((float)myIMU.sumCount / myIMU.sum, 2);
Serial.println(" Hz");
}
#ifdef LCD
display.clearDisplay();
display.setCursor(0, 0); display.print(" x y z ");
display.setCursor(0, 8); display.print((int)(1000 * myIMU.ax));
display.setCursor(24, 8); display.print((int)(1000 * myIMU.ay));
display.setCursor(48, 8); display.print((int)(1000 * myIMU.az));
display.setCursor(72, 8); display.print("mg");
display.setCursor(0, 16); display.print((int)(myIMU.gx));
display.setCursor(24, 16); display.print((int)(myIMU.gy));
display.setCursor(48, 16); display.print((int)(myIMU.gz));
display.setCursor(66, 16); display.print("o/s");
display.setCursor(0, 24); display.print((int)(myIMU.mx));
display.setCursor(24, 24); display.print((int)(myIMU.my));
display.setCursor(48, 24); display.print((int)(myIMU.mz));
display.setCursor(72, 24); display.print("mG");
display.setCursor(0, 32); display.print((int)(myIMU.yaw));
display.setCursor(24, 32); display.print((int)(myIMU.pitch));
display.setCursor(48, 32); display.print((int)(myIMU.roll));
display.setCursor(66, 32); display.print("ypr");
// With these settings the filter is updating at a ~145 Hz rate using the
// Madgwick scheme and >200 Hz using the Mahony scheme even though the
// display refreshes at only 2 Hz. The filter update rate is determined
// mostly by the mathematical steps in the respective algorithms, the
// processor speed (8 MHz for the 3.3V Pro Mini), and the magnetometer ODR:
// an ODR of 10 Hz for the magnetometer produce the above rates, maximum
// magnetometer ODR of 100 Hz produces filter update rates of 36 - 145 and
// ~38 Hz for the Madgwick and Mahony schemes, respectively. This is
// presumably because the magnetometer read takes longer than the gyro or
// accelerometer reads. This filter update rate should be fast enough to
// maintain accurate platform orientation for stabilization control of a
// fast-moving robot or quadcopter. Compare to the update rate of 200 Hz
// produced by the on-board Digital Motion Processor of Invensense's MPU6050
// 6 DoF and MPU9150 9DoF sensors. The 3.3 V 8 MHz Pro Mini is doing pretty
// well!
display.setCursor(0, 40); display.print("rt: ");
display.print((float) myIMU.sumCount / myIMU.sum, 2);
display.print(" Hz");
display.display();
#endif // LCD
myIMU.count = millis();
myIMU.sumCount = 0;
myIMU.sum = 0;
} // if (myIMU.delt_t > 500)
} // if (AHRS)
}
Code: Select all
I'll try and attach a picture of my test setup for illustration purposes. If anyone can help where I might be going wrong, it would be of huge help.MPU9250 I AM 0x71 I should be 0x71
MPU9250 is online...
BHW::ii = 0
BHW::ii = 1
BHW::ii = etc., etc. (editing some out because character limit)
x-axis self test: acceleration trim within : 6.6% of factory value
y-axis self test: acceleration trim within : -11.6% of factory value
z-axis self test: acceleration trim within : 9.0% of factory value
x-axis self test: gyration trim within : -5.4% of factory value
y-axis self test: gyration trim within : -3.0% of factory value
z-axis self test: gyration trim within : -0.5% of factory value
MPU9250 initialized for active data mode....
AK8963 I AM 0xFF I should be 0xFF
AK8963 initialized for active data mode....
X-Axis factory sensitivity adjustment value 1.19
Y-Axis factory sensitivity adjustment value 1.20
Z-Axis factory sensitivity adjustment value 1.15
Mag Calibration: Wave device in a figure 8 until done!
4 seconds to get ready followed by 15 seconds of sampling)
Mag Calibration done!
AK8963 mag biases (mG)
82.17
-93.20
65.43
AK8963 mag scale (mG)
0.96
1.17
0.90
Magnetometer:
X-Axis sensitivity adjustment value 1.19
Y-Axis sensitivity adjustment value 1.20
Z-Axis sensitivity adjustment value 1.15
ax = 103.09 ay = -240.36 az = 1033.02 mg
gx = 1.16 gy = 3.72 gz = -19.18 deg/s
mx = -5 my = -5 mz = 518 mG
q0 = 0.56 qx = 0.00 qy = -0.05 qz = 0.83
Yaw, Pitch, Roll: 103.98, -3.35, -4.24
rate = 228.01 Hz
ax = 104.31 ay = -241.15 az = 1036.68 mg
gx = 1.18 gy = 3.79 gz = -19.17 deg/s
mx = 3 my = -14 mz = 502 mG
q0 = 0.61 qx = -0.00 qy = -0.04 qz = 0.79
Yaw, Pitch, Roll: 96.64, -2.46, -3.42
rate = 226.47 Hz
ax = 100.16 ay = -239.93 az = 1032.41 mg
gx = 1.15 gy = 3.71 gz = -19.19 deg/s
mx = 5 my = -12 mz = 518 mG
q0 = 0.66 qx = -0.00 qy = -0.04 qz = 0.75
Yaw, Pitch, Roll: 88.41, -2.46, -3.38
rate = 229.92 Hz
ax = 105.41 ay = -240.11 az = 1036.56 mg
gx = 1.15 gy = 3.73 gz = -19.23 deg/s
mx = 0 my = -14 mz = 516 mG
q0 = 0.72 qx = -0.01 qy = -0.03 qz = 0.70
Yaw, Pitch, Roll: 79.93, -1.91, -3.59
rate = 227.57 Hz
ax = 102.36 ay = -241.39 az = 1037.72 mg
gx = 1.15 gy = 3.71 gz = -19.20 deg/s
mx = 1 my = -16 mz = 518 mG
q0 = 0.77 qx = -0.02 qy = -0.03 qz = 0.64
Yaw, Pitch, Roll: 70.86, -1.27, -4.01
rate = 229.69 Hz
ax = 102.84 ay = -239.62 az = 1033.69 mg
gx = 1.13 gy = 3.67 gz = -19.19 deg/s
mx = 3 my = -14 mz = 520 mG
q0 = 0.82 qx = -0.02 qy = -0.03 qz = 0.57
Yaw, Pitch, Roll: 61.15, -1.00, -3.88
rate = 230.07 Hz
ax = 104.00 ay = -242.07 az = 1037.23 mg
gx = 1.14 gy = 3.65 gz = -19.17 deg/s
mx = 0 my = -25 mz = 509 mG
q0 = 0.87 qx = -0.03 qy = -0.02 qz = 0.50
Yaw, Pitch, Roll: 51.01, -0.32, -4.24
rate = 229.42 Hz
ax = 103.15 ay = -241.64 az = 1035.40 mg
gx = 1.26 gy = 3.72 gz = -19.24 deg/s
mx = 3 my = -10 mz = 516 mG
q0 = 0.91 qx = -0.03 qy = -0.02 qz = 0.41
Yaw, Pitch, Roll: 40.16, -0.38, -4.35
rate = 229.68 Hz
ax = 102.97 ay = -240.23 az = 1038.02 mg
gx = 1.16 gy = 3.68 gz = -19.19 deg/s
mx = 1 my = -26 mz = 521 mG
q0 = 0.95 qx = -0.04 qy = -0.01 qz = 0.32
Yaw, Pitch, Roll: 28.70, 0.39, -4.70
rate = 228.03 Hz
ax = 103.21 ay = -240.23 az = 1034.30 mg
gx = 1.17 gy = 3.77 gz = -19.24 deg/s
mx = 8 my = -19 mz = 528 mG
q0 = 0.98 qx = -0.04 qy = -0.00 qz = 0.21
Yaw, Pitch, Roll: 16.08, 0.94, -4.74
rate = 228.38 Hz
ax = 104.13 ay = -241.46 az = 1032.84 mg
gx = 1.11 gy = 3.74 gz = -19.17 deg/s
mx = -7 my = -14 mz = 520 mG
q0 = 0.99 qx = -0.05 qy = 0.00 qz = 0.10
Yaw, Pitch, Roll: 2.87, 0.67, -6.25
rate = 230.81 Hz
ax = 101.68 ay = -239.75 az = 1034.79 mg
gx = 1.19 gy = 3.72 gz = -19.13 deg/s
mx = -1 my = -8 mz = 525 mG
q0 = 1.00 qx = -0.05 qy = 0.01 qz = -0.03
Yaw, Pitch, Roll: -11.47, 0.76, -6.29
rate = 229.70 Hz
ax = 99.30 ay = -241.52 az = 1035.77 mg
gx = 1.20 gy = 3.68 gz = -19.24 deg/s
mx = -8 my = -8 mz = 514 mG
q0 = 0.99 qx = -0.07 qy = 0.02 qz = -0.16
Yaw, Pitch, Roll: -26.63, 1.16, -7.88
rate = 227.95 Hz
ax = 100.40 ay = -240.23 az = 1034.18 mg
gx = 1.17 gy = 3.72 gz = -19.18 deg/s
mx = 7 my = -10 mz = 520 mG
q0 = 0.95 qx = -0.07 qy = 0.04 qz = -0.29
Yaw, Pitch, Roll: -42.44, 1.79, -8.73
rate = 228.48 Hz
ax = 105.71 ay = -240.78 az = 1035.03 mg
gx = 1.12 gy = 3.77 gz = -19.16 deg/s
mx = 8 my = -23 mz = 514 mG
q0 = 0.90 qx = -0.08 qy = 0.05 qz = -0.43
Yaw, Pitch, Roll: -59.64, 1.47, -10.50
rate = 227.93 Hz
ax = 103.45 ay = -242.07 az = 1034.42 mg
gx = 1.11 gy = 3.75 gz = -19.23 deg/s
mx = 1 my = -8 mz = 521 mG
q0 = 0.82 qx = -0.09 qy = 0.06 qz = -0.56
Yaw, Pitch, Roll: -77.33, 0.10, -11.93
rate = 229.44 Hz
ax = 101.81 ay = -240.23 az = 1037.96 mg
gx = 1.08 gy = 3.66 gz = -19.16 deg/s
mx = -8 my = -23 mz = 518 mG
q0 = 0.73 qx = -0.09 qy = 0.07 qz = -0.67
Yaw, Pitch, Roll: -93.24, -1.33, -13.09
rate = 227.87 Hz
ax = 101.62 ay = -239.62 az = 1035.83 mg
gx = 1.10 gy = 3.75 gz = -19.20 deg/s
mx = 0 my = -17 mz = 520 mG
q0 = 0.64 qx = -0.10 qy = 0.07 qz = -0.76
Yaw, Pitch, Roll: -107.65, -3.14, -13.45
rate = 230.19 Hz
ax = 105.83 ay = -241.76 az = 1031.98 mg
gx = 1.21 gy = 3.73 gz = -19.18 deg/s
mx = -3 my = -10 mz = 513 mG
q0 = 0.55 qx = -0.10 qy = 0.07 qz = -0.82
Yaw, Pitch, Roll: -120.18, -4.75, -13.19
rate = 226.24 Hz
ax = 104.06 ay = -238.59 az = 1033.81 mg
gx = 1.20 gy = 3.74 gz = -19.20 deg/s
mx = 8 my = 1 mz = 507 mG
q0 = 0.47 qx = -0.10 qy = 0.07 qz = -0.87
Yaw, Pitch, Roll: -130.66, -6.40, -12.35
rate = 227.32 Hz
ax = 104.37 ay = -242.31 az = 1032.96 mg
gx = 1.15 gy = 3.73 gz = -19.19 deg/s
mx = 1 my = -23 mz = 514 mG
q0 = 0.41 qx = -0.09 qy = 0.07 qz = -0.91
Yaw, Pitch, Roll: -139.49, -6.50, -12.08
rate = 227.98 Hz
ax = 104.06 ay = -240.42 az = 1034.48 mg
gx = 1.10 gy = 3.80 gz = -19.19 deg/s
mx = -7 my = -17 mz = 516 mG
q0 = 0.35 qx = -0.10 qy = 0.07 qz = -0.93
Yaw, Pitch, Roll: -146.61, -7.57, -10.95
rate = 229.96 Hz
ax = 104.80 ay = -239.93 az = 1033.51 mg
gx = 1.14 gy = 3.69 gz = -19.23 deg/s
mx = 0 my = -10 mz = 509 mG
q0 = 0.29 qx = -0.09 qy = 0.07 qz = -0.95
Yaw, Pitch, Roll: -153.56, -7.70, -10.42
rate = 230.10 Hz
ax = 102.97 ay = -239.26 az = 1036.93 mg
gx = 1.17 gy = 3.71 gz = -19.20 deg/s
mx = 0 my = -10 mz = 516 mG
q0 = 0.25 qx = -0.09 qy = 0.06 qz = -0.96
Yaw, Pitch, Roll: -159.12, -7.94, -9.69
rate = 229.20 Hz
ax = 103.94 ay = -242.31 az = 1035.77 mg
gx = 1.17 gy = 3.79 gz = -19.10 deg/s
mx = -7 my = -21 mz = 513 mG
q0 = 0.20 qx = -0.08 qy = 0.07 qz = -0.97
Yaw, Pitch, Roll: -164.31, -7.65, -9.48
rate = 229.69 Hz
ax = 104.00 ay = -238.95 az = 1030.40 mg
gx = 1.11 gy = 3.73 gz = -19.20 deg/s
mx = -1 my = -23 mz = 525 mG
q0 = 0.17 qx = -0.08 qy = 0.06 qz = -0.98
Yaw, Pitch, Roll: -168.80, -7.90, -8.71
rate = 230.23 Hz
ax = 103.39 ay = -240.54 az = 1033.81 mg
gx = 1.19 gy = 3.79 gz = -19.26 deg/s
mx = -1 my = -8 mz = 501 mG
q0 = 0.12 qx = -0.08 qy = 0.06 qz = -0.99
Yaw, Pitch, Roll: -173.64, -7.89, -8.27
rate = 227.36 Hz
ax = 101.62 ay = -241.03 az = 1035.34 mg
gx = 1.13 gy = 3.72 gz = -19.24 deg/s
mx = -1 my = -12 mz = 514 mG
q0 = 0.09 qx = -0.08 qy = 0.06 qz = -0.99
Yaw, Pitch, Roll: -177.93, -7.97, -7.56
rate = 228.30 Hz
ax = 103.82 ay = -241.03 az = 1033.33 mg
gx = 1.17 gy = 3.72 gz = -19.27 deg/s
mx = -7 my = -21 mz = 526 mG
q0 = 0.05 qx = -0.07 qy = 0.06 qz = -0.99
Yaw, Pitch, Roll: -181.90, -7.54, -7.46
rate = 229.49 Hz
ax = 103.15 ay = -239.01 az = 1033.26 mg
gx = 1.11 gy = 3.75 gz = -19.22 deg/s
mx = 5 my = -12 mz = 521 mG
q0 = 0.02 qx = -0.07 qy = 0.06 qz = -1.00
Yaw, Pitch, Roll: -185.95, -7.55, -6.85
rate = 228.34 Hz
ax = 104.25 ay = -240.05 az = 1036.87 mg
gx = 1.09 gy = 3.68 gz = -19.34 deg/s
mx = -5 my = -8 mz = 532 mG
q0 = -0.02 qx = -0.06 qy = 0.06 qz = -1.00
Yaw, Pitch, Roll: 170.12, -7.43, -6.56
rate = 227.56 Hz
ax = 103.82 ay = -241.46 az = 1033.08 mg
gx = 1.10 gy = 3.69 gz = -19.19 deg/s
mx = 3 my = -10 mz = 502 mG
q0 = -0.05 qx = -0.06 qy = 0.05 qz = -1.00
Yaw, Pitch, Roll: 166.17, -7.39, -5.76
rate = 228.26 Hz
ax = 106.02 ay = -239.69 az = 1035.10 mg
gx = 1.19 gy = 3.70 gz = -19.29 deg/s
mx = -5 my = -19 mz = 497 mG
q0 = -0.08 qx = -0.06 qy = 0.05 qz = -0.99
Yaw, Pitch, Roll: 162.76, -6.87, -5.76
rate = 228.05 Hz
ax = 103.88 ay = -241.94 az = 1033.08 mg
gx = 1.13 gy = 3.67 gz = -19.22 deg/s
mx = 3 my = -17 mz = 516 mG
q0 = -0.11 qx = -0.05 qy = 0.05 qz = -0.99
Yaw, Pitch, Roll: 158.67, -6.87, -5.20
rate = 231.09 Hz
ax = 100.77 ay = -240.11 az = 1038.15 mg
gx = 1.14 gy = 3.78 gz = -19.20 deg/s
mx = 3 my = -10 mz = 520 mG
q0 = -0.15 qx = -0.05 qy = 0.05 qz = -0.99
Yaw, Pitch, Roll: 154.79, -6.62, -4.62
rate = 229.84 Hz
ax = 103.33 ay = -242.07 az = 1033.39 mg
gx = 1.25 gy = 3.82 gz = -19.23 deg/s
mx = 3 my = -7 mz = 516 mG
q0 = -0.19 qx = -0.05 qy = 0.05 qz = -0.98
Yaw, Pitch, Roll: 150.35, -6.43, -4.76
rate = 229.60 Hz
ax = 104.43 ay = -239.07 az = 1034.18 mg
gx = 1.09 gy = 3.62 gz = -19.25 deg/s
mx = 3 my = -14 mz = 513 mG
q0 = -0.22 qx = -0.04 qy = 0.05 qz = -0.97
Yaw, Pitch, Roll: 146.40, -5.96, -4.38
rate = 228.49 Hz
ax = 103.88 ay = -241.21 az = 1034.61 mg
gx = 1.19 gy = 3.78 gz = -19.19 deg/s
mx = 12 my = -5 mz = 521 mG
q0 = -0.25 qx = -0.04 qy = 0.04 qz = -0.97
Yaw, Pitch, Roll: 142.62, -5.93, -3.79
rate = 227.70 Hz
ax = 103.52 ay = -242.43 az = 1034.12 mg
gx = 1.16 gy = 3.78 gz = -19.14 deg/s
mx = 16 my = -19 mz = 507 mG
q0 = -0.29 qx = -0.04 qy = 0.04 qz = -0.96
Yaw, Pitch, Roll: 138.39, -5.63, -3.16
rate = 228.09 Hz
ax = 104.80 ay = -239.93 az = 1035.64 mg
gx = 1.13 gy = 3.71 gz = -19.19 deg/s
mx = -12 my = -23 mz = 514 mG
q0 = -0.33 qx = -0.03 qy = 0.05 qz = -0.94
Yaw, Pitch, Roll: 133.26, -4.68, -4.67
rate = 228.12 Hz
ax = 103.27 ay = -239.99 az = 1033.39 mg
gx = 1.22 gy = 3.78 gz = -19.16 deg/s
mx = -14 my = -14 mz = 523 mG
q0 = -0.37 qx = -0.02 qy = 0.05 qz = -0.93
Yaw, Pitch, Roll: 128.28, -4.34, -4.47
rate = 227.69 Hz
ax = 104.68 ay = -239.69 az = 1034.55 mg
gx = 1.18 gy = 3.75 gz = -19.19 deg/s
mx = 3 my = -14 mz = 516 mG
q0 = -0.42 qx = -0.02 qy = 0.04 qz = -0.91
Yaw, Pitch, Roll: 122.50, -4.28, -3.54
rate = 229.39 Hz
ax = 104.00 ay = -239.38 az = 1034.79 mg
gx = 1.20 gy = 3.68 gz = -19.23 deg/s
mx = -1 my = -8 mz = 511 mG
q0 = -0.46 qx = -0.01 qy = 0.04 qz = -0.89
Yaw, Pitch, Roll: 116.43, -3.54, -3.35
rate = 229.87 Hz
ax = 101.93 ay = -238.53 az = 1032.47 mg
gx = 1.12 gy = 3.72 gz = -19.18 deg/s
mx = -7 my = -14 mz = 513 mG
q0 = -0.51 qx = -0.01 qy = 0.05 qz = -0.86
Yaw, Pitch, Roll: 109.77, -3.37, -4.06
rate = 228.14 Hz
ax = 106.69 ay = -240.05 az = 1034.36 mg
gx = 1.11 gy = 3.78 gz = -19.20 deg/s
mx = -21 my = -14 mz = 513 mG
q0 = -0.56 qx = 0.00 qy = 0.05 qz = -0.83
Yaw, Pitch, Roll: 103.08, -2.91, -5.09
rate = 229.35 Hz
ax = 105.53 ay = -241.88 az = 1032.23 mg
gx = 1.11 gy = 3.80 gz = -19.23 deg/s
mx = 7 my = -14 mz = 513 mG
q0 = -0.62 qx = -0.00 qy = 0.04 qz = -0.79
Yaw, Pitch, Roll: 95.51, -2.63, -3.13
rate = 228.27 Hz
ax = 101.81 ay = -242.00 az = 1036.13 mg
gx = 1.08 gy = 3.73 gz = -19.28 deg/s
mx = 0 my = 0 mz = 523 mG
q0 = -0.67 qx = 0.00 qy = 0.04 qz = -0.74
Yaw, Pitch, Roll: 87.43, -2.87, -3.94
rate = 229.96 Hz
ax = 104.55 ay = -240.17 az = 1032.84 mg
gx = 1.17 gy = 3.85 gz = -19.18 deg/s
mx = 3 my = -7 mz = 516 mG
q0 = -0.72 qx = 0.02 qy = 0.03 qz = -0.69
Yaw, Pitch, Roll: 79.17, -1.50, -3.83
rate = 229.80 Hz
ax = 104.19 ay = -238.46 az = 1033.33 mg
gx = 1.11 gy = 3.81 gz = -19.25 deg/s
mx = -7 my = -3 mz = 520 mG
q0 = -0.77 qx = 0.02 qy = 0.04 qz = -0.63
Yaw, Pitch, Roll: 69.87, -1.92, -4.47
rate = 229.37 Hz
ax = 104.37 ay = -239.93 az = 1034.24 mg
gx = 1.21 gy = 3.71 gz = -19.20 deg/s
mx = -7 my = -21 mz = 520 mG
q0 = -0.82 qx = 0.03 qy = 0.03 qz = -0.56
Yaw, Pitch, Roll: 60.25, -0.71, -4.54
rate = 229.66 Hz
ax = 103.45 ay = -240.84 az = 1035.34 mg
gx = 1.17 gy = 3.62 gz = -19.12 deg/s
mx = -7 my = -17 mz = 520 mG
q0 = -0.87 qx = 0.03 qy = 0.02 qz = -0.49
Yaw, Pitch, Roll: 49.97, -0.54, -4.47
rate = 228.21 Hz
ax = 101.44 ay = -239.20 az = 1034.18 mg
gx = 1.18 gy = 3.68 gz = -19.20 deg/s
mx = 7 my = -21 mz = 520 mG
q0 = -0.91 qx = 0.03 qy = 0.01 qz = -0.40
Yaw, Pitch, Roll: 38.92, 0.26, -4.05
rate = 229.71 Hz
ax = 101.26 ay = -241.52 az = 1035.16 mg
gx = 1.16 gy = 3.74 gz = -19.22 deg/s
mx = -7 my = -17 mz = 509 mG
q0 = -0.95 qx = 0.04 qy = 0.01 qz = -0.31
Yaw, Pitch, Roll: 27.07, 0.35, -4.37
rate = 229.23 Hz
ax = 102.48 ay = -239.38 az = 1033.69 mg
gx = 1.03 gy = 3.77 gz = -19.22 deg/s
mx = -1 my = 1 mz = 507 mG
q0 = -0.98 qx = 0.05 qy = 0.01 qz = -0.20
Yaw, Pitch, Roll: 14.64, -0.06, -5.40
rate = 228.29 Hz
ax = 102.23 ay = -239.93 az = 1033.69 mg
gx = 1.17 gy = 3.72 gz = -19.21 deg/s
mx = 12 my = -12 mz = 514 mG
q0 = -1.00 qx = 0.05 qy = -0.01 qz = -0.08
Yaw, Pitch, Roll: 1.17, 1.24, -5.23
rate = 228.44 Hz
ax = 103.76 ay = -241.33 az = 1036.56 mg
gx = 1.08 gy = 3.68 gz = -19.15 deg/s
mx = 5 my = -5 mz = 511 mG
q0 = -1.00 qx = 0.05 qy = -0.01 qz = 0.04
Yaw, Pitch, Roll: -13.27, 1.33, -6.36
rate = 229.19 Hz
ax = 102.91 ay = -241.33 az = 1034.00 mg
gx = 1.12 gy = 3.78 gz = -19.16 deg/s
mx = 0 my = -14 mz = 523 mG
q0 = -0.98 qx = 0.06 qy = -0.03 qz = 0.17
Yaw, Pitch, Roll: -28.80, 1.54, -7.82
rate = 228.35 Hz
ax = 104.00 ay = -238.83 az = 1036.44 mg
gx = 1.14 gy = 3.80 gz = -19.19 deg/s
mx = -10 my = -14 mz = 516 mG
q0 = -0.95 qx = 0.07 qy = -0.04 qz = 0.31
Yaw, Pitch, Roll: -45.23, 1.27, -9.35
rate = 227.89 Hz
ax = 103.15 ay = -238.95 az = 1038.94 mg
gx = 1.17 gy = 3.74 gz = -19.20 deg/s
mx = 1 my = -30 mz = 518 mG
q0 = -0.89 qx = 0.07 qy = -0.06 qz = 0.45
Yaw, Pitch, Roll: -62.79, 2.02, -10.62
rate = 227.70 Hz
ax = 102.91 ay = -239.01 az = 1035.16 mg
gx = 1.16 gy = 3.72 gz = -19.20 deg/s
mx = -10 my = -3 mz = 516 mG
q0 = -0.81 qx = 0.09 qy = -0.06 qz = 0.58
Yaw, Pitch, Roll: -80.00, -0.63, -12.22
rate = 228.44 Hz
ax = 106.51 ay = -238.77 az = 1035.16 mg
gx = 1.18 gy = 3.75 gz = -19.20 deg/s
mx = 1 my = -8 mz = 521 mG
q0 = -0.72 qx = 0.09 qy = -0.07 qz = 0.69
Yaw, Pitch, Roll: -95.90, -1.50, -13.19
rate = 227.36 Hz
ax = 103.39 ay = -241.82 az = 1032.84 mg
gx = 1.13 gy = 3.82 gz = -19.17 deg/s
mx = 3 my = -10 mz = 513 mG
q0 = -0.62 qx = 0.10 qy = -0.07 qz = 0.77
Yaw, Pitch, Roll: -110.42, -3.50, -13.45
rate = 226.55 Hz
ax = 104.37 ay = -243.41 az = 1034.61 mg
gx = 1.14 gy = 3.71 gz = -19.13 deg/s
mx = 8 my = -26 mz = 514 mG
q0 = -0.53 qx = 0.10 qy = -0.08 qz = 0.84
Yaw, Pitch, Roll: -122.98, -4.62, -13.34
rate = 228.04 Hz
ax = 101.93 ay = -242.19 az = 1037.23 mg
gx = 1.11 gy = 3.73 gz = -19.20 deg/s
mx = 1 my = -26 mz = 511 mG
q0 = -0.46 qx = 0.10 qy = -0.07 qz = 0.88
Yaw, Pitch, Roll: -133.13, -5.87, -12.63
rate = 227.62 Hz
ax = 105.10 ay = -241.82 az = 1035.40 mg
gx = 1.24 gy = 3.75 gz = -19.20 deg/s
mx = -10 my = -10 mz = 502 mG
q0 = -0.38 qx = 0.09 qy = -0.07 qz = 0.92
Yaw, Pitch, Roll: -142.36, -6.75, -11.84
rate = 227.72 Hz
ax = 103.21 ay = -239.75 az = 1036.25 mg
gx = 1.14 gy = 3.76 gz = -19.27 deg/s
mx = -1 my = -16 mz = 532 mG
q0 = -0.33 qx = 0.09 qy = -0.07 qz = 0.94
Yaw, Pitch, Roll: -149.29, -7.53, -10.83
rate = 229.32 Hz
ax = 103.03 ay = -241.09 az = 1035.77 mg
gx = 1.15 gy = 3.71 gz = -19.22 deg/s
mx = 1 my = -26 mz = 507 mG
q0 = -0.28 qx = 0.09 qy = -0.07 qz = 0.95
Yaw, Pitch, Roll: -155.55, -7.52, -10.41
rate = 228.61 Hz
ax = 108.40 ay = -238.53 az = 1033.81 mg
gx = 1.13 gy = 3.67 gz = -19.18 deg/s
mx = 1 my = -23 mz = 507 mG
q0 = -0.23 qx = 0.09 qy = -0.07 qz = 0.97
Yaw, Pitch, Roll: -161.20, -7.85, -9.60
rate = 227.76 Hz
ax = 100.52 ay = -236.27 az = 1031.68 mg
gx = 1.12 gy = 3.86 gz = -19.24 deg/s
mx = -1 my = -23 mz = 525 mG
q0 = -0.19 qx = 0.08 qy = -0.06 qz = 0.98
Yaw, Pitch, Roll: -165.78, -7.96, -9.01
rate = 228.27 Hz
ax = 101.93 ay = -245.67 az = 1038.09 mg
gx = 1.10 gy = 3.62 gz = -19.20 deg/s
mx = 7 my = -14 mz = 513 mG
q0 = -0.15 qx = 0.08 qy = -0.06 qz = 0.98
Yaw, Pitch, Roll: -170.64, -8.19, -8.21
rate = 227.86 Hz
ax = 107.12 ay = -242.13 az = 1037.90 mg
gx = 1.13 gy = 3.64 gz = -19.22 deg/s
mx = -1 my = -12 mz = 532 mG
q0 = -0.11 qx = 0.08 qy = -0.06 qz = 0.99
Yaw, Pitch, Roll: -174.70, -8.03, -7.95
rate = 229.66 Hz
ax = 103.39 ay = -243.10 az = 1034.00 mg
gx = 1.08 gy = 3.75 gz = -19.17 deg/s
mx = 7 my = -28 mz = 530 mG
q0 = -0.08 qx = 0.07 qy = -0.06 qz = 0.99
Yaw, Pitch, Roll: -178.21, -7.96, -7.28
rate = 228.05 Hz
ax = 104.92 ay = -239.20 az = 1034.91 mg
gx = 1.10 gy = 3.79 gz = -19.21 deg/s
mx = 3 my = -21 mz = 516 mG
q0 = -0.06 qx = 0.07 qy = -0.06 qz = 0.99
Yaw, Pitch, Roll: -181.60, -7.77, -7.05
rate = 229.18 Hz
ax = 108.40 ay = -242.80 az = 1037.90 mg
gx = 1.18 gy = 3.75 gz = -19.13 deg/s
mx = -1 my = -26 mz = 525 mG
q0 = -0.03 qx = 0.07 qy = -0.05 qz = 1.00
Yaw, Pitch, Roll: -184.99, -7.80, -6.46
rate = 228.52 Hz
ax = 104.43 ay = -238.28 az = 1037.23 mg
gx = 1.13 gy = 3.77 gz = -19.21 deg/s
mx = -7 my = -3 mz = 516 mG
q0 = 0.00 qx = 0.07 qy = -0.06 qz = 1.00
Yaw, Pitch, Roll: -188.28, -7.46, -6.68
rate = 227.57 Hz
ax = 104.55 ay = -242.00 az = 1036.56 mg
gx = 1.11 gy = 3.65 gz = -19.15 deg/s
mx = -5 my = -5 mz = 507 mG
q0 = 0.04 qx = 0.06 qy = -0.06 qz = 1.00
Yaw, Pitch, Roll: 167.76, -7.38, -6.39
rate = 227.89 Hz
ax = 104.43 ay = -238.83 az = 1033.33 mg
gx = 1.12 gy = 3.82 gz = -19.20 deg/s
mx = 0 my = -21 mz = 516 mG
q0 = 0.07 qx = 0.06 qy = -0.05 qz = 0.99
Yaw, Pitch, Roll: 163.96, -7.25, -5.56
rate = 228.44 Hz
ax = 102.66 ay = -239.38 az = 1031.68 mg
gx = 1.06 gy = 3.72 gz = -19.31 deg/s
mx = 0 my = -21 mz = 523 mG
q0 = 0.10 qx = 0.06 qy = -0.05 qz = 0.99
Yaw, Pitch, Roll: 160.46, -6.90, -5.38
rate = 231.47 Hz
ax = 104.19 ay = -238.46 az = 1033.20 mg
gx = 1.14 gy = 3.75 gz = -19.27 deg/s
mx = 5 my = -12 mz = 525 mG
q0 = 0.13 qx = 0.05 qy = -0.05 qz = 0.99
Yaw, Pitch, Roll: 156.91, -6.66, -5.23
rate = 229.24 Hz
ax = 103.70 ay = -244.32 az = 1036.13 mg
gx = 1.10 gy = 3.74 gz = -19.13 deg/s
mx = 1 my = -16 mz = 521 mG
q0 = 0.16 qx = 0.05 qy = -0.05 qz = 0.98
Yaw, Pitch, Roll: 153.10, -6.45, -4.73
rate = 228.52 Hz
ax = 106.93 ay = -240.91 az = 1036.32 mg
gx = 1.13 gy = 3.69 gz = -19.26 deg/s
mx = 10 my = -17 mz = 513 mG
q0 = 0.19 qx = 0.05 qy = -0.04 qz = 0.98
Yaw, Pitch, Roll: 149.53, -6.33, -4.02
rate = 229.70 Hz
ax = 103.09 ay = -243.47 az = 1034.61 mg
gx = 1.10 gy = 3.78 gz = -19.20 deg/s
mx = 5 my = -16 mz = 511 mG
q0 = 0.23 qx = 0.04 qy = -0.05 qz = 0.97
Yaw, Pitch, Roll: 145.35, -5.94, -4.23
rate = 228.01 Hz
ax = 105.22 ay = -239.20 az = 1036.74 mg
gx = 1.11 gy = 3.68 gz = -19.13 deg/s
mx = -17 my = -28 mz = 516 mG
q0 = 0.26 qx = 0.03 qy = -0.05 qz = 0.96
Yaw, Pitch, Roll: 140.99, -5.17, -4.79
rate = 228.26 Hz
ax = 100.28 ay = -239.99 az = 1036.07 mg
gx = 1.17 gy = 3.78 gz = -19.26 deg/s
mx = 1 my = -5 mz = 511 mG
q0 = 0.30 qx = 0.03 qy = -0.05 qz = 0.95
Yaw, Pitch, Roll: 136.18, -5.44, -4.19
rate = 228.03 Hz
ax = 106.45 ay = -239.38 az = 1032.23 mg
gx = 1.11 gy = 3.79 gz = -19.14 deg/s
mx = 1 my = -5 mz = 525 mG
q0 = 0.35 qx = 0.03 qy = -0.05 qz = 0.94
Yaw, Pitch, Roll: 131.15, -5.15, -4.19
rate = 227.97 Hz
ax = 107.42 ay = -241.46 az = 1032.90 mg
gx = 1.17 gy = 3.66 gz = -19.23 deg/s
mx = 17 my = -25 mz = 506 mG
q0 = 0.39 qx = 0.03 qy = -0.03 qz = 0.92
Yaw, Pitch, Roll: 126.06, -4.45, -2.42
rate = 230.96 Hz
ax = 106.87 ay = -239.62 az = 1035.58 mg
gx = 1.09 gy = 3.85 gz = -19.17 deg/s
mx = -5 my = -12 mz = 521 mG
q0 = 0.44 qx = 0.02 qy = -0.05 qz = 0.90
Yaw, Pitch, Roll: 119.88, -4.05, -3.97
rate = 229.51 Hz
ax = 105.47 ay = -239.50 az = 1034.42 mg
gx = 1.08 gy = 3.75 gz = -19.19 deg/s
mx = 1 my = -5 mz = 518 mG
q0 = 0.48 qx = 0.01 qy = -0.04 qz = 0.87
Yaw, Pitch, Roll: 113.66, -3.92, -3.72
rate = 228.46 Hz
ax = 104.06 ay = -241.46 az = 1035.22 mg
gx = 1.16 gy = 3.68 gz = -19.08 deg/s
mx = 3 my = -17 mz = 523 mG
q0 = 0.53 qx = 0.01 qy = -0.04 qz = 0.84
Yaw, Pitch, Roll: 107.01, -3.14, -3.43
rate = 229.27 Hz
ax = 103.76 ay = -241.76 az = 1034.67 mg
gx = 1.09 gy = 3.78 gz = -19.11 deg/s
mx = 1 my = -26 mz = 514 mG
q0 = 0.58 qx = 0.00 qy = -0.04 qz = 0.81
Yaw, Pitch, Roll: 100.08, -2.43, -3.25
rate = 226.58 Hz
ax = 105.16 ay = -238.95 az = 1034.73 mg
gx = 1.21 gy = 3.75 gz = -19.24 deg/s
mx = 7 my = -10 mz = 526 mG
q0 = 0.64 qx = -0.00 qy = -0.04 qz = 0.77
Yaw, Pitch, Roll: 92.33, -2.62, -3.37
rate = 227.87 Hz
ax = 102.97 ay = -238.71 az = 1034.55 mg
gx = 1.24 gy = 3.69 gz = -19.13 deg/s
mx = 5 my = -12 mz = 518 mG
q0 = 0.69 qx = -0.01 qy = -0.04 qz = 0.72
Yaw, Pitch, Roll: 84.27, -2.43, -3.49
rate = 227.42 Hz
ax = 104.43 ay = -238.34 az = 1036.19 mg
gx = 1.15 gy = 3.62 gz = -19.14 deg/s
mx = 14 my = -10 mz = 506 mG
q0 = 0.74 qx = -0.01 qy = -0.03 qz = 0.67
Yaw, Pitch, Roll: 75.55, -1.80, -2.88
rate = 228.27 Hz
ax = 103.64 ay = -239.62 az = 1033.94 mg
gx = 1.11 gy = 3.85 gz = -19.21 deg/s
mx = 0 my = -3 mz = 523 mG
q0 = 0.79 qx = -0.02 qy = -0.03 qz = 0.61
Yaw, Pitch, Roll: 66.17, -1.84, -4.17
rate = 229.72 Hz
ax = 105.22 ay = -239.62 az = 1032.47 mg
gx = 1.20 gy = 3.82 gz = -19.15 deg/s
mx = 3 my = -14 mz = 523 mG
q0 = 0.84 qx = -0.03 qy = -0.03 qz = 0.54
Yaw, Pitch, Roll: 56.35, -0.76, -4.20
rate = 229.52 Hz
ax = 105.65 ay = -240.11 az = 1033.33 mg
gx = 1.14 gy = 3.74 gz = -19.23 deg/s
mx = -1 my = -5 mz = 511 mG
q0 = 0.89 qx = -0.03 qy = -0.03 qz = 0.45
Yaw, Pitch, Roll: 45.68, -1.04, -4.59
rate = 229.79 Hz
ax = 107.97 ay = -241.33 az = 1037.48 mg
gx = 1.14 gy = 3.68 gz = -19.14 deg/s
mx = -7 my = -17 mz = 516 mG
q0 = 0.93 qx = -0.04 qy = -0.02 qz = 0.37
Yaw, Pitch, Roll: 34.43, -0.36, -5.00
rate = 228.10 Hz
ax = 105.90 ay = -238.71 az = 1032.23 mg
gx = 1.10 gy = 3.77 gz = -19.13 deg/s
mx = 3 my = -7 mz = 516 mG
q0 = 0.96 qx = -0.04 qy = -0.01 qz = 0.27
Yaw, Pitch, Roll: 22.49, 0.09, -4.86
rate = 228.00 Hz
ax = 104.49 ay = -238.04 az = 1034.36 mg
gx = 1.17 gy = 3.78 gz = -19.24 deg/s
mx = 5 my = -19 mz = 521 mG
q0 = 0.99 qx = -0.05 qy = 0.00 qz = 0.16
Yaw, Pitch, Roll: 9.82, 1.17, -5.29
rate = 231.34 Hz
ax = 104.49 ay = -240.72 az = 1035.16 mg
gx = 1.20 gy = 3.75 gz = -19.21 deg/s
mx = 14 my = -21 mz = 516 mG
q0 = 1.00 qx = -0.05 qy = 0.01 qz = 0.04
Yaw, Pitch, Roll: -3.72, 1.37, -5.68
rate = 227.96 Hz
ax = 106.87 ay = -240.72 az = 1035.40 mg
gx = 1.15 gy = 3.75 gz = -19.18 deg/s
mx = -1 my = -19 mz = 514 mG
q0 = 0.99 qx = -0.06 qy = 0.02 qz = -0.09
Yaw, Pitch, Roll: -18.95, 1.63, -7.04
rate = 228.09 Hz
ax = 106.63 ay = -241.15 az = 1031.98 mg
gx = 1.16 gy = 3.59 gz = -19.21 deg/s
mx = 8 my = -12 mz = 514 mG
q0 = 0.97 qx = -0.06 qy = 0.03 qz = -0.23
Yaw, Pitch, Roll: -34.87, 1.91, -7.92
rate = 227.52 Hz
ax = 104.80 ay = -241.64 az = 1035.83 mg
gx = 1.15 gy = 3.72 gz = -19.24 deg/s
mx = -3 my = -7 mz = 509 mG
q0 = 0.93 qx = -0.07 qy = 0.04 qz = -0.36
Yaw, Pitch, Roll: -51.32, 1.49, -9.77
rate = 231.63 Hz
ax = 104.86 ay = -241.33 az = 1031.43 mg
gx = 1.18 gy = 3.75 gz = -19.18 deg/s
mx = 7 my = -25 mz = 513 mG
q0 = 0.86 qx = -0.08 qy = 0.06 qz = -0.50
Yaw, Pitch, Roll: -68.88, 1.54, -11.22
rate = 228.43 Hz
ax = 105.10 ay = -241.33 az = 1037.72 mg
gx = 1.17 gy = 3.81 gz = -19.23 deg/s
mx = 3 my = -17 mz = 509 mG
q0 = 0.78 qx = -0.09 qy = 0.07 qz = -0.62
Yaw, Pitch, Roll: -85.56, -0.47, -12.61
rate = 229.65 Hz
ax = 106.14 ay = -240.42 az = 1033.14 mg
gx = 1.17 gy = 3.71 gz = -19.23 deg/s
mx = -5 my = -16 mz = 532 mG
q0 = 0.68 qx = -0.09 qy = 0.07 qz = -0.72
Yaw, Pitch, Roll: -101.40, -2.32, -13.37
rate = 227.55 Hz
ax = 104.49 ay = -241.09 az = 1033.02 mg
gx = 1.21 gy = 3.72 gz = -19.21 deg/s
mx = -1 my = -12 mz = 514 mG
q0 = 0.59 qx = -0.10 qy = 0.07 qz = -0.80
Yaw, Pitch, Roll: -115.22, -4.15, -13.35
rate = 228.33 Hz
ax = 105.65 ay = -241.76 az = 1032.41 mg
gx = 1.16 gy = 3.72 gz = -19.19 deg/s
mx = 10 my = -25 mz = 526 mG
q0 = 0.50 qx = -0.10 qy = 0.07 qz = -0.86
Yaw, Pitch, Roll: -126.99, -5.39, -13.00
rate = 227.05 Hz
ax = 106.93 ay = -241.09 az = 1029.79 mg
gx = 1.08 gy = 3.77 gz = -19.29 deg/s
mx = -7 my = -28 mz = 520 mG
q0 = 0.43 qx = -0.09 qy = 0.08 qz = -0.90
Yaw, Pitch, Roll: -136.80, -5.94, -12.61
rate = 228.65 Hz
ax = 104.68 ay = -242.86 az = 1037.78 mg
gx = 1.24 gy = 3.71 gz = -19.15 deg/s
mx = 10 my = -21 mz = 513 mG
q0 = 0.36 qx = -0.09 qy = 0.07 qz = -0.92
Yaw, Pitch, Roll: -144.94, -7.12, -11.48
rate = 229.28 Hz
ax = 106.75 ay = -242.13 az = 1037.23 mg
gx = 1.14 gy = 3.78 gz = -19.20 deg/s
mx = 5 my = -23 mz = 518 mG
q0 = 0.30 qx = -0.09 qy = 0.07 qz = -0.95
Yaw, Pitch, Roll: -152.17, -7.59, -10.67
rate = 227.96 Hz
ax = 106.45 ay = -239.14 az = 1032.47 mg
gx = 1.19 gy = 3.75 gz = -19.21 deg/s
mx = 5 my = -16 mz = 504 mG
q0 = 0.26 qx = -0.09 qy = 0.06 qz = -0.96
Yaw, Pitch, Roll: -157.86, -8.02, -9.81
rate = 227.80 Hz
ax = 103.70 ay = -241.64 az = 1035.52 mg
gx = 1.18 gy = 3.68 gz = -19.15 deg/s
mx = 10 my = -28 mz = 509 mG
q0 = 0.21 qx = -0.09 qy = 0.06 qz = -0.97
Yaw, Pitch, Roll: -163.12, -8.13, -9.15
rate = 231.93 Hz
ax = 103.58 ay = -239.01 az = 1035.52 mg
gx = 1.19 gy = 3.72 gz = -19.20 deg/s
mx = -7 my = -7 mz = 523 mG
q0 = 0.18 qx = -0.08 qy = 0.06 qz = -0.98
Yaw, Pitch, Roll: -167.50, -8.02, -8.89
rate = 229.67 Hz
ax = 107.85 ay = -239.69 az = 1038.57 mg
gx = 1.11 gy = 3.95 gz = -19.17 deg/s
mx = 7 my = -7 mz = 526 mG
q0 = 0.14 qx = -0.08 qy = 0.06 qz = -0.99
Yaw, Pitch, Roll: -172.02, -8.01, -8.29
rate = 227.71 Hz
ax = 105.16 ay = -238.40 az = 1030.09 mg
gx = 1.10 gy = 3.73 gz = -19.17 deg/s
mx = 5 my = -1 mz = 514 mG
q0 = 0.10 qx = -0.08 qy = 0.06 qz = -0.99
Yaw, Pitch, Roll: -176.20, -8.39, -7.37
rate = 228.32 Hz
ax = 102.48 ay = -237.85 az = 1032.41 mg
gx = 1.17 gy = 3.94 gz = -19.23 deg/s
mx = -7 my = -21 mz = 523 mG
q0 = 0.07 qx = -0.07 qy = 0.06 qz = -0.99
Yaw, Pitch, Roll: -179.75, -7.65, -7.66
rate = 229.61 Hz
ax = 104.49 ay = -239.69 az = 1035.64 mg
gx = 1.15 gy = 3.72 gz = -19.15 deg/s
mx = 8 my = -16 mz = 532 mG
q0 = 0.04 qx = -0.07 qy = 0.05 qz = -0.99
Yaw, Pitch, Roll: -182.87, -8.03, -6.66
rate = 227.75 Hz
ax = 106.57 ay = -240.60 az = 1036.56 mg
gx = 1.14 gy = 3.77 gz = -19.22 deg/s
mx = 7 my = -25 mz = 516 mG
q0 = 0.02 qx = -0.07 qy = 0.05 qz = -1.00
Yaw, Pitch, Roll: -185.87, -7.76, -6.34
rate = 228.02 Hz
ax = 104.61 ay = -241.21 az = 1035.46 mg
gx = 1.11 gy = 3.68 gz = -19.17 deg/s
mx = 7 my = -21 mz = 509 mG
q0 = -0.01 qx = -0.07 qy = 0.06 qz = -1.00
Yaw, Pitch, Roll: 171.32, -7.58, -6.36
rate = 227.82 Hz
ax = 105.16 ay = -242.31 az = 1034.24 mg
gx = 1.07 gy = 3.76 gz = -19.19 deg/s
mx = 5 my = -5 mz = 525 mG
q0 = -0.03 qx = -0.07 qy = 0.05 qz = -1.00
Yaw, Pitch, Roll: 168.03, -7.67, -5.73
rate = 226.51 Hz
ax = 102.48 ay = -240.36 az = 1036.19 mg
gx = 1.15 gy = 3.73 gz = -19.20 deg/s
mx = 0 my = -17 mz = 523 mG
q0 = -0.06 qx = -0.06 qy = 0.05 qz = -0.99
Yaw, Pitch, Roll: 164.84, -7.25, -5.69
rate = 229.50 Hz
ax = 106.38 ay = -244.26 az = 1033.69 mg
gx = 1.13 gy = 3.79 gz = -19.16 deg/s
mx = -3 my = -14 mz = 523 mG
q0 = -0.10 qx = -0.06 qy = 0.06 qz = -0.99
Yaw, Pitch, Roll: 160.76, -6.99, -5.76
rate = 228.00 Hz
ax = 104.68 ay = -242.61 az = 1034.55 mg
gx = 1.17 gy = 3.71 gz = -19.25 deg/s
mx = -12 my = -5 mz = 518 mG
q0 = -0.13 qx = -0.05 qy = 0.06 qz = -0.99
Yaw, Pitch, Roll: 156.85, -6.64, -5.81
rate = 229.58 Hz
ax = 105.90 ay = -240.23 az = 1033.02 mg
gx = 1.22 gy = 3.77 gz = -19.13 deg/s
mx = 7 my = -25 mz = 526 mG
q0 = -0.16 qx = -0.05 qy = 0.05 qz = -0.98
Yaw, Pitch, Roll: 153.36, -6.40, -4.45
rate = 231.17 Hz
ax = 104.19 ay = -237.18 az = 1036.50 mg
gx = 1.15 gy = 3.75 gz = -19.30 deg/s
mx = -3 my = -21 mz = 513 mG
q0 = -0.19 qx = -0.05 qy = 0.05 qz = -0.98
Yaw, Pitch, Roll: 149.27, -6.25, -4.62
rate = 229.85 Hz
ax = 104.61 ay = -239.50 az = 1035.34 mg
gx = 1.14 gy = 3.75 gz = -19.28 deg/s
mx = 1 my = -12 mz = 518 mG
q0 = -0.23 qx = -0.04 qy = 0.05 qz = -0.97
Yaw, Pitch, Roll: 145.30, -5.92, -4.37
rate = 228.18 Hz
ax = 106.51 ay = -236.33 az = 1034.00 mg
gx = 1.14 gy = 3.78 gz = -19.20 deg/s
mx = 1 my = -8 mz = 511 mG
q0 = -0.27 qx = -0.04 qy = 0.05 qz = -0.96
Yaw, Pitch, Roll: 140.55, -5.88, -3.78
rate = 226.54 Hz
ax = 106.57 ay = -241.58 az = 1036.50 mg
gx = 1.20 gy = 3.72 gz = -19.15 deg/s
mx = 3 my = -17 mz = 513 mG
q0 = -0.31 qx = -0.03 qy = 0.05 qz = -0.95
Yaw, Pitch, Roll: 135.66, -5.23, -3.94
rate = 229.04 Hz
ax = 108.28 ay = -240.48 az = 1038.21 mg
gx = 1.11 gy = 3.70 gz = -19.10 deg/s
mx = -10 my = -17 mz = 506 mG
q0 = -0.35 qx = -0.02 qy = 0.05 qz = -0.93
Yaw, Pitch, Roll: 130.59, -4.58, -4.57
rate = 228.11 Hz
ax = 103.94 ay = -239.14 az = 1037.05 mg
gx = 1.24 gy = 3.68 gz = -19.18 deg/s
mx = 21 my = -21 mz = 513 mG
q0 = -0.39 qx = -0.03 qy = 0.04 qz = -0.92
Yaw, Pitch, Roll: 125.20, -4.82, -2.95
rate = 231.56 Hz
ax = 106.99 ay = -243.04 az = 1034.18 mg
gx = 1.10 gy = 3.75 gz = -19.17 deg/s
mx = -10 my = -10 mz = 520 mG
q0 = -0.44 qx = -0.01 qy = 0.05 qz = -0.90
Yaw, Pitch, Roll: 119.39, -4.04, -4.55
rate = 228.36 Hz
ax = 105.41 ay = -238.04 az = 1037.66 mg
gx = 1.21 gy = 3.81 gz = -19.28 deg/s
mx = 0 my = -7 mz = 509 mG
q0 = -0.49 qx = -0.01 qy = 0.04 qz = -0.87
Yaw, Pitch, Roll: 113.09, -3.90, -3.53
rate = 227.69 Hz
ax = 104.98 ay = -239.01 az = 1034.97 mg
gx = 1.27 gy = 3.81 gz = -19.20 deg/s
mx = 23 my = -23 mz = 507 mG
q0 = -0.54 qx = -0.01 qy = 0.03 qz = -0.84
Yaw, Pitch, Roll: 106.24, -3.20, -2.10
rate = 229.57 Hz
ax = 102.91 ay = -239.20 az = 1033.45 mg
gx = 1.13 gy = 3.69 gz = -19.13 deg/s
mx = 10 my = -17 mz = 516 mG
q0 = -0.59 qx = -0.00 qy = 0.03 qz = -0.81
Yaw, Pitch, Roll: 99.09, -2.69, -2.88
rate = 227.50 Hz
ax = 105.77 ay = -243.10 az = 1035.22 mg
gx = 1.08 gy = 3.84 gz = -19.23 deg/s
mx = -10 my = -10 mz = 526 mG
q0 = -0.65 qx = 0.00 qy = 0.04 qz = -0.76
Yaw, Pitch, Roll: 91.12, -2.83, -4.10
rate = 226.79 Hz
ax = 106.63 ay = -237.37 az = 1038.02 mg
gx = 1.14 gy = 3.77 gz = -19.23 deg/s
mx = 3 my = -17 mz = 506 mG
q0 = -0.70 qx = 0.01 qy = 0.03 qz = -0.71
Yaw, Pitch, Roll: 82.61, -1.91, -3.43
rate = 227.50 Hz
ax = 103.88 ay = -240.54 az = 1037.60 mg
gx = 1.20 gy = 3.79 gz = -19.20 deg/s
mx = 12 my = -5 mz = 525 mG
q0 = -0.75 qx = 0.02 qy = 0.03 qz = -0.66
Yaw, Pitch, Roll: 73.98, -1.61, -3.81
rate = 229.39 Hz
ax = 107.67 ay = -238.34 az = 1036.80 mg
gx = 1.14 gy = 3.68 gz = -19.21 deg/s
mx = 7 my = -7 mz = 523 mG
q0 = -0.80 qx = 0.02 qy = 0.03 qz = -0.59
Yaw, Pitch, Roll: 64.46, -1.55, -3.75
rate = 228.68 Hz
ax = 106.69 ay = -239.07 az = 1034.91 mg
gx = 1.16 gy = 3.85 gz = -19.20 deg/s
mx = 0 my = -7 mz = 526 mG
q0 = -0.85 qx = 0.03 qy = 0.03 qz = -0.52
Yaw, Pitch, Roll: 54.31, -1.24, -4.29
rate = 231.82 Hz
ax = 105.41 ay = -241.03 az = 1031.07 mg
gx = 1.21 gy = 3.75 gz = -19.21 deg/s
mx = -3 my = -21 mz = 533 mG
q0 = -0.90 qx = 0.03 qy = 0.02 qz = -0.44
Yaw, Pitch, Roll: 43.63, -0.34, -4.27
rate = 229.46 Hz
ax = 105.22 ay = -243.47 az = 1033.69 mg
gx = 1.11 gy = 3.74 gz = -19.13 deg/s
mx = -5 my = -30 mz = 511 mG
q0 = -0.94 qx = 0.04 qy = 0.01 qz = -0.35
Yaw, Pitch, Roll: 32.30, 0.72, -4.97
rate = 229.49 Hz
ax = 104.13 ay = -237.49 az = 1034.61 mg
gx = 1.07 gy = 3.73 gz = -19.17 deg/s
mx = 3 my = -21 mz = 516 mG
q0 = -0.97 qx = 0.04 qy = 0.00 qz = -0.25
Yaw, Pitch, Roll: 20.24, 0.81, -4.91
rate = 228.27 Hz
ax = 106.26 ay = -240.60 az = 1032.96 mg
gx = 1.17 gy = 3.75 gz = -19.26 deg/s
mx = 0 my = -35 mz = 513 mG
q0 = -0.99 qx = 0.05 qy = -0.01 qz = -0.14
Yaw, Pitch, Roll: 7.32, 1.57, -5.61
rate = 228.17 Hz
ax = 104.00 ay = -238.59 az = 1030.82 mg
gx = 1.19 gy = 3.75 gz = -19.17 deg/s
mx = 8 my = -19 mz = 518 mG
q0 = -1.00 qx = 0.05 qy = -0.01 qz = -0.02
Yaw, Pitch, Roll: -6.76, 1.76, -5.92
rate = 229.44 Hz
ax = 104.98 ay = -240.91 az = 1034.12 mg
gx = 1.12 gy = 3.71 gz = -19.16 deg/s
mx = -3 my = -14 mz = 502 mG
q0 = -0.99 qx = 0.06 qy = -0.01 qz = 0.11
Yaw, Pitch, Roll: -21.42, 0.86, -7.55
rate = 227.99 Hz
ax = 105.59 ay = -240.84 az = 1035.22 mg
gx = 1.17 gy = 3.66 gz = -19.18 deg/s
mx = 14 my = -7 mz = 513 mG
q0 = -0.97 qx = 0.06 qy = -0.03 qz = 0.25
Yaw, Pitch, Roll: -37.61, 1.65, -8.10
rate = 228.00 Hz
ax = 107.24 ay = -238.95 az = 1033.87 mg
gx = 1.08 gy = 3.72 gz = -19.18 deg/s
mx = -3 my = -17 mz = 523 mG
q0 = -0.92 qx = 0.08 qy = -0.05 qz = 0.39
Yaw, Pitch, Roll: -54.89, 1.45, -10.08
rate = 228.24 Hz
ax = 105.83 ay = -237.92 az = 1037.23 mg
gx = 1.24 gy = 3.68 gz = -19.15 deg/s
mx = 1 my = -16 mz = 518 mG
q0 = -0.84 qx = 0.08 qy = -0.06 qz = 0.53
Yaw, Pitch, Roll: -72.43, 0.86, -11.52
rate = 229.38 Hz
ax = 103.58 ay = -239.93 az = 1031.86 mg
gx = 1.17 gy = 3.64 gz = -19.21 deg/s
mx = 8 my = -12 mz = 518 mG
q0 = -0.76 qx = 0.09 qy = -0.07 qz = 0.64
Yaw, Pitch, Roll: -89.28, -1.06, -12.82
rate = 228.05 Hz
ax = 107.42 ay = -234.92 az = 1033.51 mg
gx = 1.17 gy = 3.81 gz = -19.26 deg/s
mx = 8 my = -16 mz = 507 mG
q0 = -0.66 qx = 0.09 qy = -0.07 qz = 0.74
Yaw, Pitch, Roll: -104.53, -2.56, -13.44
rate = 227.74 Hz
ax = 110.35 ay = -240.48 az = 1034.06 mg
gx = 1.20 gy = 3.66 gz = -19.06 deg/s
mx = 5 my = -23 mz = 514 mG
q0 = -0.57 qx = 0.10 qy = -0.07 qz = 0.81
Yaw, Pitch, Roll: -117.92, -4.23, -13.41
rate = 226.11 Hz
ax = 108.89 ay = -242.92 az = 1032.10 mg
gx = 1.14 gy = 3.59 gz = -19.17 deg/s
mx = -7 my = -10 mz = 520 mG
q0 = -0.48 qx = 0.10 qy = -0.07 qz = 0.87
Yaw, Pitch, Roll: -129.45, -5.77, -12.80
rate = 227.65 Hz
ax = 105.90 ay = -212.52 az = 1032.23 mg
gx = 1.34 gy = 3.74 gz = -19.33 deg/s
mx = -3 my = -3 mz = 526 mG
q0 = -0.41 qx = 0.10 qy = -0.07 qz = 0.90
Yaw, Pitch, Roll: -138.88, -6.83, -12.06
rate = 229.78 Hz
Could it be that my sensor is too close to my PC? or some magnetic thing (I have headphones and speakers on my desk, but they're about 3 feet away)? Some other environmental factor? I'm considering buying an Adafruit BNO055, which has an on-board processor that does calibration and sensor fusion and outputs the AHRS values, which could solve my issues, unless it's an environmental problem. I'd love to get this sensor working though.
Thanks in advance for any help. -Spencer