Yaw from magnetometer locked in one position.
Posted: Mon Oct 21, 2013 9:54 am
Hello,
I am trying to implement an autopilot in the Crazyflie. I have been making some changes to the firmware to implement a new control law. For that I need to know the orientation in pitch, roll and yaw.
I already added gyro drift subtraction for pitch and roll, and the readings seems to be right. I tested it with the 2 Crazyflies I have.
For yaw, it has been a lot of fun, and by that I mean lot of troubles, . First, the gyro drift subtraction does not work on yaw. I am using the magnetometer based on the information on this post:
http://forum.bitcraze.se/viewtopic.php? ... ilit=10dof
I tried that and then changed to something similar using tilt compensation, but it is the same. The yaw position is always locked. I was wondering why this happens. I already surfed the web a million times, . The magnetometer datasheet says it can be used to have a 360 heading reading and there are numerous projects using it with tilt compensation to have the same effect. Does the magnetic field produced by the motors is so strong it locks the value?
Thanks.
--Luis
I am trying to implement an autopilot in the Crazyflie. I have been making some changes to the firmware to implement a new control law. For that I need to know the orientation in pitch, roll and yaw.
I already added gyro drift subtraction for pitch and roll, and the readings seems to be right. I tested it with the 2 Crazyflies I have.
For yaw, it has been a lot of fun, and by that I mean lot of troubles, . First, the gyro drift subtraction does not work on yaw. I am using the magnetometer based on the information on this post:
http://forum.bitcraze.se/viewtopic.php? ... ilit=10dof
I tried that and then changed to something similar using tilt compensation, but it is the same. The yaw position is always locked. I was wondering why this happens. I already surfed the web a million times, . The magnetometer datasheet says it can be used to have a 360 heading reading and there are numerous projects using it with tilt compensation to have the same effect. Does the magnetic field produced by the motors is so strong it locks the value?
Thanks.
--Luis