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### Topic: ADXL345 information/help/problem/guidance etc :) (Read 8691 times)previous topic - next topic

#### dhenry

#30
##### Nov 12, 2012, 06:38 pm
4 degrees are not that far off: if you look at the datasheet, it shows various drafts, typically in the 20mg - 50mg range. That means a minimum accuracy (not resolution) of 2 - 4 degrees.

Essentially, you should think of those things as tilt indicator, not tilt measurement tool and they are effectively 5 - 6 digits accuracy.

#### lestofante

#31
##### Nov 12, 2012, 09:27 pm

Small angle sine approximation doesn't work that well for angles in degrees.

calculation are made in radiant and translated to degree for easy reading

so each "bit" corresponds to 1/256g. or 90/256 ~= 0.4 degree, in theory.

In reality, you would be lucky to get to within 2-3 degrees.

i can understand drift and other approximation/errors give you to wrong value, but i still cant' understand where this "90/256 ~= 0.4" come from, in particular the "90"
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#### ocelotrevs

#32
##### Nov 12, 2012, 11:20 pm

we can calculate orientation (from -90° to 90°) on one axes by

asin(val);

where val HAVE to be from -1 to 1, so

maxValue = 1024
half=maxValue/2; //because we have value from 0 to 1024, 0 is -G, 1024is +G and 512 is 0G
val = (rawRead-half)/half; //the /zero assure that we will have a result in range of -1, +1

(notice you have to use acos if this axis is parallel to gravity vector, so asin for x and y, acos for Z)

now we have to set our precision. with a precision of +-4g, 1g = 512/4 = 128LSB so 1LSB = 1/128 G
precision now is asin(0) - asin(1/128)
asin of 0 is 0 (how convenient!)
asin of (1/128) is 0.44°, so 0.44° is your precision

but we don't need 4g, because any value above 1G is just noise from acceleration, so we can use the lowest resolution witch is +-2G, 1G= 512/2=256LSB, so 1LSB=1/256
asin(1/256) = 0.22°

Okay, thanks for that. I guess I was more off the mark than I thought.

The number to look for is the sensitivity figure. This particular chip has the max sensitivity ratings of 256lsb/g, so each "bit" corresponds to 1/256g. or 90/256 ~= 0.4 degree, in theory.

In reality, you would be lucky to get to within 2-3 degrees.

That is unfortunate. I may have to look for a more accurate sensor in that case.

#### dhenry

#33
##### Nov 12, 2012, 11:41 pm
Quote
calculation are made in radiant and translated to degree for easy reading

sin(x) -> x as x -> 0.

That approximation is the better when x is smaller.

Quote
i can understand drift and other approximation/errors give you to wrong value, but i still cant' understand where this "90/256 ~= 0.4" come from, in particular the "90"

In 90 degrees, the sensed gravity on the z axis goes from 1g to 0.

#### sbright33

#34
##### Nov 22, 2012, 03:18 pm
What is everyone measuring the angle of?  Hopefully not a motorcycle...

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