Bitcraze Forums

Hi everyone,

I am posting this here because I couldn't find an answer anywhere (except "look into the code", which didn't exactly help...).
I was wondering what were the units for the values logged by the quad, more specifically for the accelerometer, magnetometer and gyro.

For example, I get "1.06" as a raw value for the accelerometer on Z axis, but that doesn't correspond to the gravity acceleration in any unit I can think of.
So I guess this is not the standard "m/s^2", and for the rest of my code I'd also like to know what kind of units you use for magnetic field and gyro.

Thanks in advance!

Hi,
Indeed I had to look in the code. It would actually be interesting to store that in the copter table of content so that it is transmitted to the ground automatically. I added a ticket for it.
The accelerometer unit is g, the mean acceleration gravity (g=9.81m/s^2).
The gyroscope in degree per second.
The Magnetometer in gauss.

Best regards,

Hi arnaud,

Thanks for the prompt reply, great!
I'm using a bunch of your quads for my master thesis. Your help is greatly appreciated

Regards

Hi,
No problem. Do not hesitate to share more about your thesis, we are always interested to hear how Crazyflie is used.

BR,
Arnaud

I am using the CrazyFlie to do some sound processing (which is not easy because of the ego noise of the copter).

The principle is to use sound landmarks to self-localize each quad, then use this swarm of quads to localize an unknown sound source. You can find a short document about the principles here:
http://www.jp.honda-ri.com/upload/docum ... 7_7070.pdf

I am doing a short presentation at a robotics conference soon, and I was wondering if it was OK to use pictures of the quad from your website? They are so much more beautiful than the one I took :/

Sounds really cool!
Of course you are welcome to use our photo.

Thanks a lot!