Inertial sensor doesnt set heading properly

#1

Whenever I try to calibrate the inertial sensor, it works fine. Then, when the code starts reading the gyro, I notice it will constantly tick up until it reaches a point. That angle is the angle it is from a certain point, that always being the same every time I restart the code / bot
My inertial sensor is called Gyro

while(true) {
inertial::quaternion Inertial_quaternion;
Inertial_quaternion = Gyro.orientation();
Brain.Screen.clearScreen();
Brain.Screen.setCursor(1, 1);
Brain.Screen.print(Gyro.rotation(degrees));
task::sleep(1);
}

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#2

How have you mounted the inertial sensor ? if it is at an angle when you calibrate it will slowly drift to match the angle it is mounted at. What does the dashboard show ? does it do the same thing as your code ?

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#3

The dashboard on the v5 will only show acceleration, so that’s not helpful. I will remount the gyro tomorrow and see if that helps.

#4

dashboard shows roll, pitch and yaw in addition to raw gyro and accelerometer data. Which angle are you having trouble with ?

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#5

I just updated the firmware to 1.0.9, and now it works.

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#6

yes, I should have asked that, vexos 1.0.9 is required for correct inertial sensor operation.

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#7

Hi, Could you please paste the link for firmware 1.0.9? Thanks.

#8

You can update your brain to the later vexOS using VEXcode V5 Text or Blocks, or by downloading the stand alone firmware updates from this page.

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#9

Thanks. Updated the brain but same problem. My robot is just spinning several rotations before it stops. Here is part of my code…

insangle = GyroAccel.heading(rotationUnits::raw);
wait(20, msec);

It gives me tiny readings which led to the robot spinning before reaching a set heading.

Is there a proper way of reading from the new V5 Inertial sensor?

Thanks again

#10

raw is not supported, use degrees or turns
(see the example code in VEXcode)

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