Inertial Sensor Drifting and Not Stopping

[weilin]

@Paperjam

I put it back more towards the center of the bot, and it stopped drifting.

That alone shouldn’t be a problem. Angle of rotation is identical in every point - it is translation that differs.

I would suspect more if it wasn’t leveled perfectly horizontal or mounted very close to a wheel where it vibrates as robot moves.

People try to mount inertial sensor on the rubber links in the middle of the robot to minimize bumpy ride of the mecanum or omni wheels.

Finally, if all this fails, you can try to do factory re-calibration of the inertial sensor as described here:

Full alignment procedure for Inertial sensor

This procedure calibrates the accelerometers in the Inertial sensor and saves the result in non volatile memory. This procedure needs vexos 1.0.10 or later. Only perform this calibration if your VEX inertial sensor is showing angles for roll and/or pitch that are larger than perhaps 1 or 2 degrees when the inertial sensor is on a flat surface that is known to be level in both axis. Some inertial sensors can show significant error for roll and pitch when placed on a level surface. To check a…