the standard deviation of IMU sensor?
Posted: Wed Jul 14, 2021 9:24 pm
Hello, if anyone can help me the following questions, it would be very helpful for me:
Q1: Is the IMU frame aligned with the body frame of the quadcopter?
Q2:What is the standard deviation of accelerometer and gyroscope?
Q3: I have noticed that in your official website, the positive direction of roll and yaw angle are clockwise and the positive direction of pitch angle is counter-clockwise. However, I have done some tests. I hold the crazyflie and move it(Firstly I let crazyflie clockwise rotates along x axis 90 deg and back to 0, then counter-clockwise 90 deg along x axis and back to 0, then I let crazyflie clockwise rotates along y axis 90 deg and back to 0, then counter-clockwise 90 deg along y axis and back to 0, finally I let crazyflie clockwise rotates along z axis 90 deg and back to 0, then counter-clockwise 90 deg along z axis and back to 0). The results is attached in following picture(The estimated orientation is from kalman filter of the crazyflie). It shows that the although the positive direction of pitch angle is counter-clockwise, the positive direction of gyro in the y axis is clockwise, is that true?
Q1: Is the IMU frame aligned with the body frame of the quadcopter?
Q2:What is the standard deviation of accelerometer and gyroscope?
Q3: I have noticed that in your official website, the positive direction of roll and yaw angle are clockwise and the positive direction of pitch angle is counter-clockwise. However, I have done some tests. I hold the crazyflie and move it(Firstly I let crazyflie clockwise rotates along x axis 90 deg and back to 0, then counter-clockwise 90 deg along x axis and back to 0, then I let crazyflie clockwise rotates along y axis 90 deg and back to 0, then counter-clockwise 90 deg along y axis and back to 0, finally I let crazyflie clockwise rotates along z axis 90 deg and back to 0, then counter-clockwise 90 deg along z axis and back to 0). The results is attached in following picture(The estimated orientation is from kalman filter of the crazyflie). It shows that the although the positive direction of pitch angle is counter-clockwise, the positive direction of gyro in the y axis is clockwise, is that true?