Berry IMU at 90

[bepeho]

Hi,

My GPS-IMU feeds my rpi3 with correct information. The IMU sits on the RPI3.

However, I need  to install the RPI3 at  90°.

X values are reading ~ -90°, wich is fine, but Y values are incorrect.

Below is an extract of “gyro_accelerometer_tutorial01_angles”

Loop Time 20 GyroX 182.194 AccXangle -95.571 CFangleX -95.277 GyroY -2464.163 AccYangle 143.785 CFangleY 141.763

Could you please advise for a way to obtain a correct  Y value when the IMU is  neither on “the correct way” nor  “upside down”.

 

Thank you very much.

Patrice

[Mark Williams]

change this;
AccYangle = (float) (atan2(accRaw[2],accRaw[0])+M_PI)*RAD_TO_DEG;
to this
AccYangle = (float) (atan2(accRaw[1],-accRaw[0])+M_PI)*RAD_TO_DEG;

comment out these lines

//              if (AccYangle > 90)
//                              AccYangle -= (float)270;
//              else

and just leave;
AccYangle -= (float)90;

Mark --OzzMaker.com --

[bepeho]

Perfect.

Thank you very much for your quick support.

[Author]

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