Yaw value is oscillating and by full rotation don't show 360 degree

[ahmadsajjad656]

Hi every one! i am using this library for MPU9250. but my yaw value is oscillating about 3 to 4 degree while the sensor is at rest. and by one complete revolution of the sensor i am getting less than 360 degree. what is the problem. please help me. thanks in advance.

[kriswiner]

Did you calibrate your sensors? How?

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On Tue, Nov 7, 2017 at 4:13 AM, ahmadsajjad656 ***@***.***> wrote: Hi every one! i am using this library for MPU9250. but my yaw value is oscillating about 3 to 4 degree while the sensor is at rest. and by one complete revolution of the sensor some time i am getting less than 360 degree. what is the problem. please help me. thanks in advance. ------------------------------ You can view, comment on, or merge this pull request online at: #200 Commit Summary - Hacking this into an Arduino library - Mostly functional, but gross - Got things separated and working - Lil cleaner - removed unnecessary commented out code - Removed old comments - Updated to match code - -m - Updated README - added missing myIMUs - Updated links to product image - Merge branch 'master' of https://github.com/sparkfun/ MPU-9250_Breakout_Arduino_Library <https://github.com/sparkfun/MPU-9250_Breakout_Arduino_Library> - Added magnetometer calibration routine and cleaned up some things - Added SPI capabilities. WARNING: Not reading from AK8963 over SPI yet. - Added a sketch to debug SPI. Seems to work as of this commit - Added in working magnetometer config and WHOAMI reading. Saving unfinished work as is. File Changes - *A* .gitattributes <https://github.com/kriswiner/MPU9250/pull/200/files#diff-0> (22) - *A* .gitignore <https://github.com/kriswiner/MPU9250/pull/200/files#diff-1> (204) - *D* MPU9250BasicAHRS.ino <https://github.com/kriswiner/MPU9250/pull/200/files#diff-2> (1034) - *D* MPU9250BasicAHRS_t3.ino <https://github.com/kriswiner/MPU9250/pull/200/files#diff-3> (1045) - *D* MPU9250_LPS25H_BasicAHRS_t3.ino <https://github.com/kriswiner/MPU9250/pull/200/files#diff-4> (1167) - *D* MPU9250_MPL3115A2_BasicAHRS_t3.ino <https://github.com/kriswiner/MPU9250/pull/200/files#diff-5> (1493) - *D* MPU9250_MS5611_BasicAHRS_t3.ino <https://github.com/kriswiner/MPU9250/pull/200/files#diff-6> (1214) - *D* MPU9250_MS5637_AHRS_t3.ino <https://github.com/kriswiner/MPU9250/pull/200/files#diff-7> (1297) - *M* README.md <https://github.com/kriswiner/MPU9250/pull/200/files#diff-8> (60) - *D* STM32F401/MPU9250.h <https://github.com/kriswiner/MPU9250/pull/200/files#diff-9> (879) - *D* STM32F401/Readme.md <https://github.com/kriswiner/MPU9250/pull/200/files#diff-10> (3) - *D* STM32F401/main.cpp <https://github.com/kriswiner/MPU9250/pull/200/files#diff-11> (228) - *A* examples/MPU9250BasicAHRS_I2C/MPU9250BasicAHRS_I2C.ino <https://github.com/kriswiner/MPU9250/pull/200/files#diff-12> (512) - *A* examples/MPU9250BasicAHRS_SPI/MPU9250BasicAHRS_SPI.ino <https://github.com/kriswiner/MPU9250/pull/200/files#diff-13> (518) - *A* examples/MPU9250_Debug/MPU9250_Debug.ino <https://github.com/kriswiner/MPU9250/pull/200/files#diff-14> (238) - *A* keywords.txt <https://github.com/kriswiner/MPU9250/pull/200/files#diff-15> (168) - *A* library.properties <https://github.com/kriswiner/MPU9250/pull/200/files#diff-16> (9) - *D* quaternionFilters.ino <https://github.com/kriswiner/MPU9250/pull/200/files#diff-17> (194) - *A* src/MPU9250.cpp <https://github.com/kriswiner/MPU9250/pull/200/files#diff-18> (975) - *A* src/MPU9250.h <https://github.com/kriswiner/MPU9250/pull/200/files#diff-19> (295) - *A* src/quaternionFilters.cpp <https://github.com/kriswiner/MPU9250/pull/200/files#diff-20> (234) - *A* src/quaternionFilters.h <https://github.com/kriswiner/MPU9250/pull/200/files#diff-21> (14) Patch Links: - https://github.com/kriswiner/MPU9250/pull/200.patch - https://github.com/kriswiner/MPU9250/pull/200.diff — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#200>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AGY1qkKRXvbmzMXvYALfo3zuuRJyp90bks5s0ElVgaJpZM4QUsgQ> .

[ahmadsajjad656]

thanks kriswiner for quick response, Actually I am using Sparkfun library having link https://github.com/sparkfun/SparkFun_MPU-9250_Breakout_Arduino_Library because your library's gives me the error "mbed.h No such file" while using example "MPU9250BasicAHRS" and other examples are not for MCU (Arduin Nano, Mega) . Sparkfun library is almost similar to your's. In this library they are using Mahony/medwick filter. the value of magnetometer is too much oscillating, I think this the reason behind yaw value oscillation. By the way I am new to IMU, so kindly help me either with your's library or with sparkfun to sort out this problem. thanks in advance