Data input range/scale documentation #12

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1. dr-mrsthemonarch commented on Jul 26, 2021

   

   dr-mrsthemonarch

   on Jul 26, 2021

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   I have the same questions...Though according to the adafruit comments in their code, it seems the software looks for

   Accel in 'raw' format 2^13 (8192) integers
   Gyroscope in Degrees/s rounded to integers
   Mag in microteslas * 10

   Though I get the motioncal software to work when using 2^14 raw accel format and the gyroscope in degrees/s, and the mag multiplied by 10 I actually don't believe the values are particularly correct, because I'm having quite a difficult time getting real angles from the sensors itself (i'm using MPU9250)
2. dr-mrsthemonarch commented on Jul 26, 2021

   

   dr-mrsthemonarch

   on Jul 26, 2021

   More actions

   I have found this in the imuread header file:

   // accelerometer sensor structure definition
   #define G_PER_COUNT 0.0001220703125F  // = 1/8192
   typedef struct
   {
   	float Gp[3];           // slow (typically 25Hz) averaged readings (g)
   	float GpFast[3];       // fast (typically 200Hz) readings (g)
   } AccelSensor_t;
   
   
   // gyro sensor structure definition
   #define DEG_PER_SEC_PER_COUNT 0.0625F  // = 1/16
   
   // magnetometer sensor structure definition
   #define UT_PER_COUNT 0.1F
   typedef struct
   {
   	float Bc[3];           // slow (typically 25Hz) averaged calibrated readings (uT)
   	float BcFast[3];       // fast (typically 200Hz) calibrated readings (uT)
   } MagSensor_t;
   

   so I assume, it assumes data as I mentioned, accel +/- 2^13 int, gyro degrees/s * 16, mag *10...though, a confirmation would be great.