Absolute yaw, or stopping the yaw re-zeroing?
Posted: Mon Apr 01, 2019 1:23 pm
Hi
When I look at the stabilizer.yaw via the logger it will provide a very accurate measurement, but then over several seconds to a minute will always re-zero the current 'yaw = 0' to wherever value it is currently facing.
For the purposes of my project I require this value to remain accurate even when the CF is stationary.
I have tried to get around this by using the magnometer values on a CF 2.0, the magnometer provides no readings on a CF 2.1 however (Using latest firmware). The magnometer solution is inelegant, and not nearly so precise as the stabilizer.yaw measurements taken from the internal Kalman filter.
Is there some method to disable the re-zeroing in firmware, or an alternative yaw measurement I could extract?
I think there will be some drift with no re-zeroing as from what I can gather the yaw measurement is taken from gyro integration, but this should not be a problem for our purposes.
Thanks
When I look at the stabilizer.yaw via the logger it will provide a very accurate measurement, but then over several seconds to a minute will always re-zero the current 'yaw = 0' to wherever value it is currently facing.
For the purposes of my project I require this value to remain accurate even when the CF is stationary.
I have tried to get around this by using the magnometer values on a CF 2.0, the magnometer provides no readings on a CF 2.1 however (Using latest firmware). The magnometer solution is inelegant, and not nearly so precise as the stabilizer.yaw measurements taken from the internal Kalman filter.
Is there some method to disable the re-zeroing in firmware, or an alternative yaw measurement I could extract?
I think there will be some drift with no re-zeroing as from what I can gather the yaw measurement is taken from gyro integration, but this should not be a problem for our purposes.
Thanks