2021-07-28, 01:37 PM
(2021-07-27, 02:51 PM)fishy Wrote: As I am (trying) to move away from the Moitessier, I am stumped by the behavior of my MPU.
It's a MPU 9250/6400 that I connected to the GPIO pins. When level I get proper readings.
I know tilt-compensation is a thing, but I naively assumed this was handled by PyPilot.
Sadly, this is very much not the case: At 30 degrees tilt (heel) the compass is off by more than 45 degrees.
Both the accelerometers and the compass have been calibrated using PyPilot.
Needless to say my Moitessier does not have this problem.
If this is a hardware thing, please advice me which MPU I should buy (including a link if at all possible) as specs are not always as clear as I'd like..
Thank you for your hints!
Hi
Firstly I cannot help in fixing your issue per se but what I can give you is a summary of my experience and perhaps some hope!
I use one of these https://www.waveshare.com/product/module...nsor-c.htm
It uses an MPU 9255, I have calibrated it in pypilot and can say that the compass heading it transmits does not vary hugely even with large angles of pitch and roll. I assume therefore that pypilot is indeed making some sort of correction for tilt and doing it very effectively.
I will try to do some more tests as the ones I've done so far have been quite rough and ready
Good luck