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L3G4200D angle calculation
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2012-05-24 05:47 AM
Posted on May 24, 2012 at 14:47
Hi there,
I'm using an L3G4200D sensor for calculating the angle displacementwith the code below. However from the computation I get half of the real rotationthe sensor make, that is, if I rotate it of 90 degree, I measure a 45 degree rotation.The output data rate is set a 100hz, resolution is 250dps and the BW is set at 12,5Hz.I realized that I might loose some samples (I don't use interrupts), but that should not be a problem when rotating at constant speed,as I always calculate the delta from the last sample.Any suggestion would be appreciated.while
(1
) {gyroscope.readGyroscopeData(x, y, z);
// Data rate is 100Hz, thus T = 0.01s
uint64_t currentValue = util::currentCounterValue();
uint32_t delta = currentValue - previousValue;
timeElapsed = (
float
)delta /1000000
;previousValue = currentValue;
/* Convert data to dps */
if
((x - x0) > kThreshold || (x - x0) < -kThreshold)wxz = (x - x0) *
0
.00875
;else
wxz =
0
;if
((y - y0) > kThreshold || (y - y0) < -kThreshold)wyz = (y - y0) *
0
.00875
;else
wyz =
0
;if
((z - z0) > kThreshold || (z - z0) < -kThreshold)wxy = (z - z0) *
0
.00875
;else
wxy =
0
;xz += (wxz * timeElapsed);
yz += (wyz * timeElapsed);
xy += (wxy * timeElapsed);
sprintf(bufferOut,
''
#wxz=%+f wyz=%+f wxy=%+f xz=%+f yz=%+f xy=%+f
\n
''
,wxz, wyz, wxy, xz, yz, xy);
trace(bufferOut);
gpioPortC.toggle(GPIO::ePin12);
/* Sensor data rate is set at 100Hz. */
//util::delayms(1);
}
0 REPLIES 0
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