When I mount the inertial sensor into a fixed place on the robot and print the heading value of the sensor, even when the robot stays still, the heading value will always increase at a constant rate and then reset itself. I have the newest firmware update 1.0.9 and I do not know why the heading value continuously increases.
We had the same issue a while ago, I don’t think its official firmware yet as we cloned part of their repo.
He is a process of integral accumulation.
It is inevitable.
The specific solution needs multi-sensor fusion, which is the University’s automatic control knowledge.
UKF algorithm is a good choice. Google is all examples. But if you don’t preview the knowledge of University, you can’t understand it at all.
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If you have second Inertial Sensor, some teams mount it upside down under the first one. They drift in opposite direction and cancel each other out. No need for University level knowledge, but it will set you back fifty bucks.
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