Getting heading with only the gyrometer
Posted: Thu Jan 13, 2022 4:21 pm
I'm doing trying to use odometry for some basic navigation, and for that I need the heading of the drone. The only deck I'm using is the flowdeck, so I thought I could use the integrated data of the gyrometer to get the heading of the drone. I know this wouldn't be very accurate, but it doesn't have to be.
I saw that there are already logging variables (stateEstimate.yaw and stabilizer.yaw which are the same value) available which seem to give the heading data. However, when trying to use them I found that they seem to always convert to 0. I attached an image of the plotter where I turned the drone around 120 degrees (which is depicted accurately), but then when I let the drone go, the yaw value goes to 0 over time. Is there a solution to this?
I saw that there are already logging variables (stateEstimate.yaw and stabilizer.yaw which are the same value) available which seem to give the heading data. However, when trying to use them I found that they seem to always convert to 0. I attached an image of the plotter where I turned the drone around 120 degrees (which is depicted accurately), but then when I let the drone go, the yaw value goes to 0 over time. Is there a solution to this?