Inertial sensor switching direction

[technik3k]

These quotes give some insights on the way Inertial Sensor processes measurements:

@jpearman

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 ?

@jpearman

dashboard shows roll, pitch and yaw in addition to raw gyro and accelerometer data.

@jpearman

we currently run the internal chip at 200Hz and calculate the quaternion value at that rate., roll, pitch and yaw are derived from the quaternion in the brain.

Also, IMU diagnostics example: V5 internal sensor Code - #3 by jpearman

It is hard to say what is going on without more detailed debugging information. I would start by opening IMU dashboard and observing all available numbers as you manually rotate the robot.