LibrePilot Forum

General Category => General Discussion => Topic started by: datapool on August 29, 2016, 12:59:38 pm

Title: Raw GyroState imbalance when switching Attitude Estimation Algo?
Post by: datapool on August 29, 2016, 12:59:38 pm

I obserev something strange:

when I switch the Attitude Estimation Algo from Basic (Complementary) to GPS INS13, I see a change in static raw GyroState data. But without moving the quad?

Do I need to repeat the calibration procedure (for gyro) if a switch in the attitude estimation algo is done?

PLease see attached picture with the change of raw data when doing the switch.

Title: Re: Raw GyroState imbalance when switching Attitude Estimation Algo?
Post by: f5soh on August 29, 2016, 01:23:36 pm

Try calibrating the Gyros.

Maintain frame still (do not touch) and go to Attitude > Calibration > Gyro Bias calibration > Start

Title: Re: Raw GyroState imbalance when switching Attitude Estimation Algo?
Post by: datapool on August 29, 2016, 05:07:42 pm

Did a recalibrate. Strange observation. I see the gyrostate slowly moving back to zero after some time... I think no issue anymore. Thanks for your suggestion.