Hi guys,
I have a Arduino mega ADK board and a sensor board Minimu-9 i connected the arduino and the sensors together,but the values weren't true ,so i searched for filters and I make some kind of filter for the gyro and it was working properly until i notised that when i move the board to fast or long or both the values don't return back to zero instantly when I put the board down. Its someting like this :
G X: 0 Y: 0 Z: 0
G X: 0 Y: 0 Z: 0
G X: 0 Y: 0 Z: 0
G X: 0 Y: 0 Z: 0
G X: 0 Y: 0 Z: 0
G X: 0 Y: 0 Z: 0
G X: 0 Y: 0 Z: 0
G X: 0 Y: 0 Z: 0
...(start shaking)
G X: -926 Y: 799 Z: 317
G X: -2715 Y: 381 Z: -835
G X: -2949 Y: 93 Z: -863
G X: -1535 Y: 457 Z: 433
G X: 721 Y: 2167 Z: 2219
G X: -932 Y: 810 Z: 2834
G X: -657 Y: 411 Z: 3841
.....(shaking and shaking)
G X: -2586 Y: -2026 Z: 5495
G X: -2604 Y: -1567 Z: 5064
G X: -2984 Y: -884 Z: 5559
G X: -1352 Y: -1045 Z: 4524
G X: -1533 Y: -927 Z: 4628
....(stop shaking)
G X: -1482 Y: -891 Z: 4582
G X: -1425 Y: -891 Z: 4581
G X: -1362 Y: -890 Z: 4580
G X: -1284 Y: -889 Z: 4579
G X: -1190 Y: -889 Z: 4578
G X: -1105 Y: -889 Z: 4577
G X: -1023 Y: -888 Z: 4576
G X: -933 Y: -887 Z: 4575
G X: -847 Y: -886 Z: 4574
G X: -762 Y: -885 Z: 4573
G X: -677 Y: -884 Z: 4572
G X: -590 Y: -884 Z: 4571
G X: -500 Y: -883 Z: 4570
G X: -400 Y: -882 Z: 4569
G X: -304 Y: -881 Z: 4568
G X: -214 Y: -880 Z: 4567
G X: -123 Y: -879 Z: 4566
G X: -33 Y: -878 Z: 4565
G X: 0 Y: -877 Z: 4564
G X: 0 Y: -876 Z: 4563
G X: 0 Y: -875 Z: 4562
G X: 0 Y: -874 Z: 4561
G X: 0 Y: -873 Z: 4560
G X: 0 Y: -872 Z: 4559
G X: 0 Y: -871 Z: 4558
G X: 0 Y: -871 Z: 4557
.....(until all 3 axis goes to 0)
and here is my source :
#include <Wire.h>
#include <L3G.h>
L3G gyro;
int gyroX[99];
int gyroY[99];
int gyroZ[99];
int filtergyroX=0;
int filtergyroY=0;
int filtergyroZ=0;
int BufX=0;
int BufY=0;
int BufZ=0;
void setup() {
Serial.begin(9600);
Wire.begin();
if (!gyro.init())
{
Serial.println("Failed to autodetect gyro type!");
while (1);
}
gyro.enableDefault();
}
void loop()
{
for(int i=0;i<=99; i++)
{
gyro.read();
gyroX[i]=((int)gyro.g.x);
gyroY[i]=((int)gyro.g.y);
gyroZ[i]=((int)gyro.g.z);
delay(1);
}
for(int q=0;q<=99;q++)
{
float Kgyro=0.001;
filtergyroX= BufX+(Kgyro*gyroX[q]);
BufX=filtergyroX;
filtergyroY= BufY+(Kgyro*gyroY[q]);
BufY=filtergyroY;
filtergyroZ= BufZ+(Kgyro*gyroZ[q]);
BufZ=filtergyroZ;
}
Serial.print("G ");
Serial.print("X: ");
Serial.print((int)filtergyroX);
Serial.print(" Y: ");
Serial.print((int)filtergyroY);
Serial.print(" Z: ");
Serial.println((int)filtergyroZ);
}
Does someone have an explanation for those results?
I want to thank you all in advance for your time. 