Reply To: Tilt Compensation works not for all axis

[Cas Theeuwes]

Hello Mark,

I just downloaded the last version berry-simple.py, but result is the same.
I give you here some “print” results during heading kept near 0 degree, then with a roll of about 30 degree clockwise (so compensated heading shift to 339 degree). Maybe that gives an explanation? :

Loop Time | 0.19| [1;34;40mACCX Angle -27.09 ACCY Angle -0.47 [0m
[1;31;40m GRYX Angle 51.35 GYRY Angle -28.77 GYRZ Angle -272.60
[1;35;40m CFangleX Angle -27.41 [1;36;40m CFangleY Angle -0.25 [1;32;40m
HEADING 29.12 [1;37;40m tiltCompensatedHeading 339.03

Loop Time | 0.19| [1;34;40mACCX Angle -28.11 ACCY Angle 0.10 [0m
[1;31;40m GRYX Angle 51.76 GYRY Angle -28.55 GYRZ Angle -273.27
[1;35;40m CFangleX Angle -27.67 [1;36;40m CFangleY Angle 0.05 [1;32;40m
HEADING 28.12 [1;37;40m tiltCompensatedHeading 337.06

Loop Time | 0.23| [1;34;40mACCX Angle -27.06 ACCY Angle 0.98 [0m
[1;31;40m GRYX Angle 52.41 GYRY Angle -28.42 GYRZ Angle -274.67
[1;35;40m CFangleX Angle -27.04 [1;36;40m CFangleY Angle 0.66 [1;32;40m
HEADING 28.02 [1;37;40m tiltCompensatedHeading 337.71

Loop Time | 0.19| [1;34;40mACCX Angle -28.13 ACCY Angle 0.90 [0m
[1;31;40m GRYX Angle 52.74 GYRY Angle -28.49 GYRZ Angle -275.64
[1;35;40m CFangleX Angle -27.56 [1;36;40m CFangleY Angle 0.78 [1;32;40m
HEADING 27.19 [1;37;40m tiltCompensatedHeading 336.38

Loop Time | 0.19| [1;34;40mACCX Angle -27.47 ACCY Angle 1.58 [0m
[1;31;40m GRYX Angle 53.24 GYRY Angle -28.61 GYRZ Angle -276.44
[1;35;40m CFangleX Angle -27.30 [1;36;40m CFangleY Angle 1.21 [1;32;40m
HEADING 30.01 [1;37;40m tiltCompensatedHeading 334.62

Loop Time | 0.19| [1;34;40mACCX Angle -27.36 ACCY Angle 0.58 [0m
[1;31;40m GRYX Angle 53.46 GYRY Angle -28.50 GYRZ Angle -277.27
[1;35;40m CFangleX Angle -27.25 [1;36;40m CFangleY Angle 0.88 [1;32;40m
HEADING 29.13 [1;37;40m tiltCompensatedHeading 339.29

Loop Time | 0.19| [1;34;40mACCX Angle -27.30 ACCY Angle 1.11 [0m
[1;31;40m GRYX Angle 53.81 GYRY Angle -28.47 GYRZ Angle -277.71
[1;35;40m CFangleX Angle -27.14 [1;36;40m CFangleY Angle 1.03 [1;32;40m
HEADING 27.08 [1;37;40m tiltCompensatedHeading 335.95

Loop Time | 0.19| [1;34;40mACCX Angle -27.12 ACCY Angle 1.04 [0m
[1;31;40m GRYX Angle 54.06 GYRY Angle -28.62 GYRZ Angle -278.24
[1;35;40m CFangleX Angle -27.03 [1;36;40m CFangleY Angle 0.98 [1;32;40m
HEADING 28.22 [1;37;40m tiltCompensatedHeading 337.51

Loop Time | 0.19| [1;34;40mACCX Angle -27.84 ACCY Angle 0.83 [0m
[1;31;40m GRYX Angle 54.49 GYRY Angle -28.78 GYRZ Angle -279.08
[1;35;40m CFangleX Angle -27.34 [1;36;40m CFangleY Angle 0.83 [1;32;40m
HEADING 28.47 [1;37;40m tiltCompensatedHeading 336.81