MPU6050_light
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Pitch value changes with change in GyroZ
Thanks for your amazing library.
I am using your library for balancing drone. For eg my drone is at zero pitch and zero roll. But as soon as I get angular rotation in z axis. pitch and roll value increases for a moment and return backs to normal. But that moment is enough for my drone to crash. I would be higly obliged if you provide me any guidance to solve this issue Thanking you.
Hello,
Could it be due to centrifugal force? It could be the case if the MPU6050 is far from the rotation center and at high Z-axis rotation speed. Values of gyroscopes and accelerometers at this critical moment will give you a hint on the cause. If it is indeed the centrifugal force you might see accelerometer values to increase on X or Y axis.
As a reminder, the library provides correct angular values in the case where the gravity is the major acceleration. If other forces (such as centrifugal force) become a non negligible source of acceleration, then angular computations are affected.
Another cause might be a slight misalignement of your MPU6050 with the frame of the drone. The Z-axis rotation is projected on the X and Y axis (as the sine of the angular misalignement). In this case, these are the gyroscope values on X and Y that increase at the critical moment you described.
Cheers,
Romain